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EKF: Fix half frame offset in flow gyro compensation.

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The gyro data accumulation needs to be across the same integration period as the flow sensor. The previous code didn't sample the accumulation until the midpoint of the flow data had fallen behind the fusion time horizon.

This PR changes the optical flow time stamp definition so that flow data is retrieved when the leading edge of the flow accumulation period falls behind the fusion time horizon. This enables the accumulated gyro data to be sampled at the correct time. Fusion is then delayed until the mid sample time has fallen behind the fusion time horizon.
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Paul Riseborough
2018-06-13 16:51:42 +10:00
parent 48561b0c8a
commit c6ed2ccfcd
4 changed files with 31 additions and 20 deletions
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EKF/common.h
+1 -1
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@@ -141,7 +141,7 @@ struct flowSample {
Vector2f flowRadXY; ///< measured delta angle of the image about the X and Y body axes (rad), RH rotaton is positive
Vector3f gyroXYZ; ///< measured delta angle of the inertial frame about the body axes obtained from rate gyro measurements (rad), RH rotation is positive
float dt; ///< amount of integration time (sec)
uint64_t time_us; ///< timestamp of the integration period mid-point (uSec)
uint64_t time_us; ///< timestamp of the integration period leading edge (uSec)
};
struct extVisionSample {