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ekf2: make filter update period configurable

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- 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
This commit is contained in:
Daniel Agar
2022-01-18 16:37:16 -05:00
parent 3f25349eb9
commit ae3070bbf1
20 changed files with 856 additions and 821 deletions
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src/modules/ekf2/EKF2.cpp
+4 -1
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@@ -57,6 +57,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_odometry_pub(multi_mode ? ORB_ID(estimator_odometry) : ORB_ID(vehicle_odometry)),
_wind_pub(multi_mode ? ORB_ID(estimator_wind) : ORB_ID(wind)),
_params(_ekf.getParamHandle()),
_param_ekf2_predict_us(_params->filter_update_interval_us),
_param_ekf2_mag_delay(_params->mag_delay_ms),
_param_ekf2_baro_delay(_params->baro_delay_ms),
_param_ekf2_gps_delay(_params->gps_delay_ms),
@@ -228,8 +229,10 @@ bool EKF2::multi_init(int imu, int mag)
int EKF2::print_status()
{
PX4_INFO_RAW("ekf2:%d attitude: %d, local position: %d, global position: %d\n", _instance, _ekf.attitude_valid(),
PX4_INFO_RAW("ekf2:%d EKF dt: %.4fs, IMU dt: %.4fs, attitude: %d, local position: %d, global position: %d\n",
_instance, (double)_ekf.get_dt_ekf_avg(), (double)_ekf.get_dt_imu_avg(), _ekf.attitude_valid(),
_ekf.local_position_is_valid(), _ekf.global_position_is_valid());
perf_print_counter(_ecl_ekf_update_perf);
perf_print_counter(_ecl_ekf_update_full_perf);
perf_print_counter(_msg_missed_imu_perf);