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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 10:33:16 +01:00
committed by Paul Riseborough
parent f20726d47f
commit ee859e092a
15 changed files with 429 additions and 68 deletions
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EKF/estimator_interface.cpp
-2
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@@ -196,7 +196,6 @@ void EstimatorInterface::setGpsData(const gps_message &gps)
gps_sample_new.time_us = gps.time_usec - _params.gps_delay_ms * 1000;
gps_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
gps_sample_new.time_us = math::max(gps_sample_new.time_us, _imu_sample_delayed.time_us);
gps_sample_new.vel = gps.vel_ned;
@@ -267,7 +266,6 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)
baro_sample_new.time_us = 1000 * (_baro_timestamp_sum / _baro_sample_count);
baro_sample_new.time_us -= _params.baro_delay_ms * 1000;
baro_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
baro_sample_new.time_us = math::max(baro_sample_new.time_us, _imu_sample_delayed.time_us);
_baro_buffer.push(baro_sample_new);