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EKF: Fix timestamp comparison issue #462
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This fixes a error condition that occurs if _time_last_gps is greater than _time_last_imu. By checking time stamps at the fusion time horizon, we guarantee that this cannot happen because all observations must have a time stamp smaller or equal to _imu_sample_delayed.time_us before they are retrieved from the buffers.
bkueng
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Jun 15, 2018
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This is enough to fix the GPS case, thanks @priseborough. So the problem exists at fewer places than I first thought.
For the other sensors: for mag, baro and airspeed I found no problem.
For range finder, there is one here:
https://github.com/PX4/ecl/blob/master/EKF/terrain_estimator.cpp#L210
And for vision there are also a couple that need to be checked.
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contains: - PX4/PX4-ECL#460 - PX4/PX4-ECL#462
bkueng
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contains: - PX4/PX4-ECL#460 - PX4/PX4-ECL#462
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Minimum change fix to address PX4/PX4-Autopilot#9527
Replaces #461
This fixes a error condition that occurs if _time_last_gps is greater than _time_last_imu.
By checking time stamps at the fusion time horizon, we guarantee that this cannot happen because all observations must have a time stamp smaller or equal to _imu_sample_delayed.time_us before they are retrieved from the buffers.
There are other instances in code where this type of error could occur for other observation types. These will be addressed as part of a separate PR following a more thorough code review.