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EKF: Minimise data buffer lengths

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Saves RAM and reduces output predictor errors by using the smallest data buffer length that meets time delay and update rate requirements.
This commit is contained in:
Paul Riseborough
2016-11-05 23:44:45 +11:00
parent 750a8874c1
commit d5b398ddb1
3 changed files with 35 additions and 2 deletions
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EKF/estimator_interface.cpp
+18
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@@ -48,6 +48,8 @@
EstimatorInterface::EstimatorInterface():
OBS_BUFFER_LENGTH(10),
IMU_BUFFER_LENGTH(30),
_min_obs_interval_us(0),
_dt_imu_avg(0.0f),
_imu_ticks(0),
@@ -340,6 +342,22 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
bool EstimatorInterface::initialise_interface(uint64_t timestamp)
{
// find the maximum time delay required to compensate for
uint16_t max_time_delay_ms = math::max(_params.mag_delay_ms,
math::max(_params.range_delay_ms,
math::max(_params.gps_delay_ms,
math::max(_params.flow_delay_ms,
math::max(_params.ev_delay_ms,
math::max(_params.airspeed_delay_ms, _params.baro_delay_ms))))));
// calculate the IMU buffer length required to accomodate the maximum delay with some allowance for jitter
IMU_BUFFER_LENGTH = (max_time_delay_ms / FILTER_UPDATE_PERIOD_MS) + 1;
// set the observaton buffer length to handle the minimum time of arrival between observations
OBS_BUFFER_LENGTH = (max_time_delay_ms / _params.sensor_interval_min_ms) + 1;
ECL_INFO("EKF IMU buffer length = %i",(int)IMU_BUFFER_LENGTH);
ECL_INFO("EKF observation buffer length = %i",(int)OBS_BUFFER_LENGTH);
if (!(_imu_buffer.allocate(IMU_BUFFER_LENGTH) &&
_gps_buffer.allocate(OBS_BUFFER_LENGTH) &&