7 Commits

Author	SHA1	Message	Date
Daniel Agar	c20e4e4421	ekf2: move stopFlowFusion() to optical_flow_control.cpp	2023-02-22 09:08:33 -05:00
Daniel Agar	0711a34d0e	ekf2: move flow buffer pop to controlOpticalFlowFusion	2023-02-22 09:08:33 -05:00
Daniel Agar	66ad7fd06c	ekf2: include 0 timestamp checks in helpers (isTimedOut(), isRecent(), etc) ... - EKF isTimedOut(), isRecent(), and isNewestSampleRecent() need to handle the case where the timestamp has never been set - reset() more thoroughly reset fields (mainly impacts unit tests)	2023-02-03 10:00:51 -05:00
Daniel Agar	95300d5637	ekf2: refactor output predictor to class ... - refactor all EKF backend output predictor pieces into new OutputPredictor class - output states are now calculated immediately with new high rate IMU rather than after EKF update - IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear	2023-01-18 10:59:34 -05:00
Daniel Agar	6f861ba889	ekf2: pos/vel reset helpers pass new variance ... - optical flow velocity reset use already computed _flow_vel_ne	2022-10-24 10:59:58 -04:00
Matthias Grob	5ca28dd6dc	Use isAllFinite() in all places that check finiteness on entire vectors or matrices	2022-10-19 19:09:20 +02:00
Daniel Agar	535415a537	ekf2: add OF estimator aid src status	2022-10-18 14:19:16 -04:00