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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/ekf.h
+11 -1
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@@ -331,7 +331,7 @@ private:
bool _tas_data_ready{false}; ///< true when new true airspeed data has fallen behind the fusion time horizon and is available to be fused
bool _flow_for_terrain_data_ready{false}; /// same flag as "_flow_data_ready" but used for separate terrain estimator
uint64_t _time_ins_deadreckon_start{0}; ///< amount of time we have been doing inertial only deadreckoning (uSec)
uint64_t _time_last_aiding{0}; ///< amount of time we have been doing inertial only deadreckoning (uSec)
bool _using_synthetic_position{false}; ///< true if we are using a synthetic position to constrain drift
uint64_t _time_last_hor_pos_fuse{0}; ///< time the last fusion of horizontal position measurements was performed (uSec)
@@ -785,6 +785,16 @@ private:
// sensor measurement
float calculate_synthetic_mag_z_measurement(const Vector3f& mag_meas, const Vector3f& mag_earth_predicted);
bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t timeout_period) const
{
return last_sensor_timestamp + timeout_period < _time_last_imu;
}
bool isRecent(uint64_t sensor_timestamp, uint64_t acceptance_interval) const
{
return sensor_timestamp + acceptance_interval > _time_last_imu;
}
void stopGpsFusion();
void stopGpsPosFusion();