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Merge pull request #277 from PX4/pr-ekfBufferParam 

EKF: Add a parameter to enable setting of a minimum buffer length
This commit is contained in:
Paul Riseborough 2017-06-15 07:34:21 +10:00 committed by GitHub
parent c48b879843 16c7041f4a
commit d6decb3c84
2 changed files with 4 additions and 2 deletions
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1
EKF/common.h
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@ -193,6 +193,7 @@ struct parameters {
int32_t sensor_interval_min_ms{20}; // minimum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers.
// measurement time delays
float min_delay_ms{0.0f}; // used to a set a minimum buffer length independent of specified sensor delays
float mag_delay_ms{0.0f}; // magnetometer measurement delay relative to the IMU (msec)
float baro_delay_ms{0.0f}; // barometer height measurement delay relative to the IMU (msec)
float gps_delay_ms{110.0f}; // GPS measurement delay relative to the IMU (msec)

5
EKF/estimator_interface.cpp
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@ -350,13 +350,14 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
bool EstimatorInterface::initialise_interface(uint64_t timestamp)
{
// find the maximum time delay required to compensate for
// find the maximum time delay the buffers are required to handle
uint16_t max_time_delay_ms = math::max(_params.mag_delay_ms,
math::max(_params.range_delay_ms,
math::max(_params.gps_delay_ms,
math::max(_params.flow_delay_ms,
math::max(_params.ev_delay_ms,
math::max(_params.airspeed_delay_ms, _params.baro_delay_ms))))));
math::max(_params.min_delay_ms,
math::max(_params.airspeed_delay_ms, _params.baro_delay_ms)))))));
// calculate the IMU buffer length required to accomodate the maximum delay with some allowance for jitter
_imu_buffer_length = (max_time_delay_ms / FILTER_UPDATE_PERIOD_MS) + 1;