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AP_NavEKF: fixed some time handling bugs

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use get_delta_time() and removed broken time wrap code
This commit is contained in:
Andrew Tridgell 2014-01-03 11:47:09 +11:00
parent b1c5f23bbd
commit ee774f69d0
2 changed files with 10 additions and 22 deletions
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25
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -86,7 +86,7 @@ bool NavEKF::healthy(void)
void NavEKF::InitialiseFilter(void)
{
lastFixTime = 0;
lastFixTime_ms = 0;
lastMagUpdate = 0;
lastAirspeedUpdate = 0;
velFailTime = 0;
@ -256,8 +256,6 @@ void NavEKF::SelectVelPosFusion()
{
posVelFuseStep = false;
}
// protect against wrap-around
if(IMUmsec < HGTmsecPrev) HGTmsecPrev = IMUmsec;
}
}
void NavEKF::SelectMagFusion()
@ -274,8 +272,6 @@ void NavEKF::SelectMagFusion()
else
{
fuseMagData = false;
// protect against wrap-around
if(IMUmsec < MAGmsecPrev) MAGmsecPrev = IMUmsec;
}
// Magnetometer fusion is always called if enabled because its fusion is spread across 3 time steps to reduce peak load
FuseMagnetometer();
@ -285,16 +281,14 @@ void NavEKF::SelectTasFusion()
{
readAirSpdData();
// Fuse Airspeed Measurements - hold off if pos/vel or magnetometer fusion has been performed, unless maximum time interval exceeded
bool dataReady = (statesInitialised && useAirspeed && !onGround && newDataTas);
bool clearFrame = (!posVelFuseStep && !magFusePerformed);
bool timeout = ((IMUmsec - TASmsecPrev) >= TASmsecMax);
bool dataReady = (statesInitialised && useAirspeed && !onGround && newDataTas);
bool clearFrame = (!posVelFuseStep && !magFusePerformed);
bool timeout = ((IMUmsec - TASmsecPrev) >= TASmsecMax);
if (dataReady && (clearFrame || timeout || fuseMeNow))
{
TASmsecPrev = IMUmsec;
FuseAirspeed();
}
// protect against wrap-around
if(IMUmsec < TASmsecPrev) TASmsecPrev = IMUmsec;
}
void NavEKF::UpdateStrapdownEquationsNED()
@ -2007,14 +2001,11 @@ void NavEKF::CovarianceInit()
void NavEKF::readIMUData()
{
uint32_t IMUusec;
Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
IMUusec = hal.scheduler->micros();
IMUmsec = IMUusec/1000;
dtIMU = 1.0e-6f * (IMUusec - lastIMUusec);
lastIMUusec = IMUusec;
IMUmsec = hal.scheduler->millis();
dtIMU = _ahrs->get_ins().get_delta_time();
angRate = _ahrs->get_ins().get_gyro();
accel = _ahrs->get_ins().get_accel();
@ -2026,10 +2017,10 @@ void NavEKF::readIMUData()
void NavEKF::readGpsData()
{
if ((_ahrs->get_gps()->last_message_time_ms() != lastFixTime) &&
if ((_ahrs->get_gps()->last_message_time_ms() != lastFixTime_ms) &&
(_ahrs->get_gps()->status() >= GPS::GPS_OK_FIX_3D))
{
lastFixTime = _ahrs->get_gps()->last_message_time_ms();
lastFixTime_ms = _ahrs->get_gps()->last_message_time_ms();
newDataGps = true;
RecallStates(statesAtVelTime, (IMUmsec - msecVelDelay));
RecallStates(statesAtPosTime, (IMUmsec - msecPosDelay));

7
libraries/AP_NavEKF/AP_NavEKF.h
View File

@ -314,11 +314,8 @@ private:
// State vector storage index
uint8_t storeIndex;
// high precision time stamp for previous IMU data processing
uint32_t lastIMUusec;
// time of alst GPS fix used to determine if new data has arrived
uint32_t lastFixTime;
// time of last GPS fix used to determine if new data has arrived
uint32_t lastFixTime_ms;
Vector3f lastAngRate;
Vector3f lastAccel;