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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/ekf.h
+1 -1
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@@ -282,7 +282,7 @@ private:
bool _mag_data_ready{false}; ///< true when new magnetometer data has fallen behind the fusion time horizon and is available to be fused
bool _baro_data_ready{false}; ///< true when new baro height data has fallen behind the fusion time horizon and is available to be fused
bool _range_data_ready{false}; ///< true when new range finder data has fallen behind the fusion time horizon and is available to be fused
bool _flow_data_ready{false}; ///< true when new optical flow data has fallen behind the fusion time horizon and is available to be fused
bool _flow_data_ready{false}; ///< true when the leading edge of the optical flow integration period has fallen behind the fusion time horizon
bool _ev_data_ready{false}; ///< true when new external vision system data has fallen behind the fusion time horizon and is available to be fused
bool _tas_data_ready{false}; ///< true when new true airspeed data has fallen behind the fusion time horizon and is available to be fused