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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Daniel Agar
ae3070bbf1
- introduces new parameter EKF2_PREDICT_US to configure the filter update period in microseconds - actual filter update period will be an integer multiple of IMU
80 lines
2.6 KiB
C++
80 lines
2.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 Estimation and Control Library (ECL). All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* 1. Redistributions of source code must retain the above copyright
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* 2. Redistributions in binary form must reproduce the above copyright
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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****************************************************************************/
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/**
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* Downsamples IMU data to a lower rate such that EKF predicition can happen less frequent
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* @author Kamil Ritz <ka.ritz@hotmail.com>
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*/
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#ifndef EKF_IMU_DOWN_SAMPLER_HPP
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#define EKF_IMU_DOWN_SAMPLER_HPP
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#include <mathlib/mathlib.h>
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#include <matrix/math.hpp>
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#include "common.h"
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using namespace estimator;
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class ImuDownSampler
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{
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public:
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explicit ImuDownSampler(int32_t &target_dt_us);
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~ImuDownSampler() = default;
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bool update(const imuSample &imu_sample_new);
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imuSample getDownSampledImuAndTriggerReset()
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{
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imuSample imu{_imu_down_sampled};
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reset();
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return imu;
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}
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private:
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void reset();
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imuSample _imu_down_sampled{};
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Quatf _delta_angle_accumulated{};
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int _accumulated_samples{0};
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int _required_samples{1};
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int32_t &_target_dt_us;
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float _target_dt_s{0.010f};
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float _min_dt_s{0.005f};
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float _delta_ang_dt_avg{0.005f};
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};
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#endif // !EKF_IMU_DOWN_SAMPLER_HPP
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