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Work on LPE GPS delay.

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James Goppert
2016-03-08 09:38:31 -05:00
parent ac66050cd6
commit d37ddb6102
5 changed files with 56 additions and 50 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+5 -2
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@@ -41,7 +41,7 @@ using namespace Eigen;
using namespace control;
static const size_t GPS_HIST_LEN = 2; // delay, at 10 hz, (200 ms)
static const size_t HIST_LEN = 2; // each step is 100 ms, gps has 200 ms delay
enum fault_t {
FAULT_NONE = 0,
@@ -257,11 +257,14 @@ private:
BlockStats<double, 3> _gpsStats;
// delay blocks
BlockDelay<double, n_y_gps, GPS_HIST_LEN> _gpsDelay;
BlockDelay<float, n_x, 1, HIST_LEN> _xDelay;
BlockDelay<float, n_x, n_x, HIST_LEN> _PDelay;
BlockDelay<uint64_t, 1, 1, HIST_LEN> _tDelay;
// misc
struct pollfd _polls[3];
uint64_t _timeStamp;
uint64_t _time_last_hist;
uint64_t _time_last_xy;
uint64_t _time_last_z;
uint64_t _time_last_tz;