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Robustify timestamp checks (#729)

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* Robustify timestamp checks

* Remove lowerbound on sensor timestamp

* Add tests for fusion timeouts

* Inline and const time check functions

* Rename dead_reckoning time variable
This commit is contained in:
kritz
2020-01-28 20:33:16 +11:00
committed by Paul Riseborough
parent f20726d47f
commit ee859e092a
15 changed files with 429 additions and 68 deletions
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EKF/covariance.cpp
+1 -1
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@@ -811,7 +811,7 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
// if we have failed for 7 seconds continuously, reset the accel bias covariances to fix bad conditioning of
// the covariance matrix but preserve the variances (diagonals) to allow bias learning to continue
if (_time_last_imu - _time_acc_bias_check > (uint64_t)7e6) {
if (isTimedOut(_time_acc_bias_check, (uint64_t)7e6)) {
P.uncorrelateCovariance<3>(13);