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AP_NavEKF3: writeBodyFrameOdom accepts delay

This commit is contained in:
Randy Mackay 2020-05-09 08:05:40 +09:00
parent 69560ec147
commit ef02942459
4 changed files with 11 additions and 5 deletions
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5
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1355,13 +1355,14 @@ void NavEKF3::getFlowDebug(int8_t instance, float &varFlow, float &gndOffset, fl
* delAng is the XYZ angular rotation measured in body frame and relative to the inertial reference at timeStamp_ms (rad)
* delTime is the time interval for the measurement of delPos and delAng (sec)
* timeStamp_ms is the timestamp of the last image used to calculate delPos and delAng (msec)
* delay_ms is the average delay of external nav system measurements relative to inertial measurements
* posOffset is the XYZ body frame position of the camera focal point (m)
*/
void NavEKF3::writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset)
void NavEKF3::writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset)
{
if (core) {
for (uint8_t i=0; i<num_cores; i++) {
core[i].writeBodyFrameOdom(quality, delPos, delAng, delTime, timeStamp_ms, posOffset);
core[i].writeBodyFrameOdom(quality, delPos, delAng, delTime, timeStamp_ms, delay_ms, posOffset);
}
}
}

3
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -220,9 +220,10 @@ public:
* delAng is the XYZ angular rotation measured in body frame and relative to the inertial reference at timeStamp_ms (rad)
* delTime is the time interval for the measurement of delPos and delAng (sec)
* timeStamp_ms is the timestamp of the last image used to calculate delPos and delAng (msec)
* delay_ms is the average delay of external nav system measurements relative to inertial measurements
* posOffset is the XYZ body frame position of the camera focal point (m)
*/
void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset);
void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset);
/*
* Write odometry data from a wheel encoder. The axis of rotation is assumed to be parallel to the vehicle body axis

5
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -118,7 +118,7 @@ void NavEKF3_core::readRangeFinder(void)
}
}
void NavEKF3_core::writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset)
void NavEKF3_core::writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset)
{
// limit update rate to maximum allowed by sensor buffers and fusion process
// don't try to write to buffer until the filter has been initialised
@ -126,6 +126,9 @@ void NavEKF3_core::writeBodyFrameOdom(float quality, const Vector3f &delPos, con
return;
}
// subtract delay from timestamp
timeStamp_ms -= delay_ms;
bodyOdmDataNew.body_offset = &posOffset;
bodyOdmDataNew.vel = delPos * (1.0f/delTime);
bodyOdmDataNew.time_ms = timeStamp_ms;

3
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -231,9 +231,10 @@ public:
* delAng is the XYZ angular rotation measured in body frame and relative to the inertial reference at time_ms (rad)
* delTime is the time interval for the measurement of delPos and delAng (sec)
* timeStamp_ms is the timestamp of the last image used to calculate delPos and delAng (msec)
* delay_ms is the average delay of external nav system measurements relative to inertial measurements
* posOffset is the XYZ body frame position of the camera focal point (m)
*/
void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset);
void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset);
/*
* Write odometry data from a wheel encoder. The axis of rotation is assumed to be parallel to the vehicle body axis