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Correction of the kalman estimator rate #1301

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Jul 4, 2023
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Correction of the kalman estimator rate #1301

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8 changes: 5 additions & 3 deletions src/modules/src/estimator/estimator_kalman.c
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Original file line number Diff line number Diff line change
Expand Up @@ -112,7 +112,9 @@ static StaticSemaphore_t dataMutexBuffer;
/**
* Tuning parameters
*/
#define PREDICT_RATE RATE_100_HZ // this is slower than the IMU update rate of 500Hz
#define PREDICT_RATE RATE_100_HZ // this is slower than the IMU update rate of 1000Hz
const uint32_t PREDICTION_UPDATE_INTERVAL_MS = 1000 / PREDICT_RATE;

// The bounds on the covariance, these shouldn't be hit, but sometimes are... why?
#define MAX_COVARIANCE (100)
#define MIN_COVARIANCE (1e-6f)
Expand Down Expand Up @@ -233,12 +235,12 @@ static void kalmanTask(void* parameters) {
axis3fSubSamplerFinalize(&gyroSubSampler);

kalmanCorePredict(&coreData, &accSubSampler.subSample, &gyroSubSampler.subSample, nowMs, quadIsFlying);
nextPredictionMs = nowMs + (1000.0f / PREDICT_RATE);
nextPredictionMs = nowMs + PREDICTION_UPDATE_INTERVAL_MS;

STATS_CNT_RATE_EVENT(&predictionCounter);

if (!rateSupervisorValidate(&rateSupervisorContext, nowMs)) {
DEBUG_PRINT("WARNING: Kalman prediction rate low (%lu)\n", rateSupervisorLatestCount(&rateSupervisorContext));
DEBUG_PRINT("WARNING: Kalman prediction rate off (%lu)\n", rateSupervisorLatestCount(&rateSupervisorContext));
}
}

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