ekf2: directly use IMU sample to find corresponding aid source sample

 - I think this helps make it clear we're using a sensor sample
   corresponding with a particular IMU sample

src/modules/ekf2/EKF/aid_sources/auxvel/auxvel_fusion.cpp

@@ -33,12 +33,12 @@
 
 #include "ekf.h"
 
-void Ekf::controlAuxVelFusion()
+void Ekf::controlAuxVelFusion(const imuSample &imu_sample)
 {
 	if (_auxvel_buffer) {
 		auxVelSample sample;
 
-		if (_auxvel_buffer->pop_first_older_than(_time_delayed_us, &sample)) {
+		if (_auxvel_buffer->pop_first_older_than(imu_sample.time_us, &sample)) {
 
 			updateAidSourceStatus(_aid_src_aux_vel,
 					      sample.time_us,                                           // sample timestamp

src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp

@@ -49,7 +49,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 
 	baroSample baro_sample;
 
-	if (_baro_buffer && _baro_buffer->pop_first_older_than(_time_delayed_us, &baro_sample)) {
+	if (_baro_buffer && _baro_buffer->pop_first_older_than(imu_sample.time_us, &baro_sample)) {
 
 #if defined(CONFIG_EKF2_BARO_COMPENSATION)
 		const float measurement = compensateBaroForDynamicPressure(imu_sample, baro_sample.hgt);
@@ -137,7 +137,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 					// reset vertical velocity
 					resetVerticalVelocityToZero();
 
-					aid_src.time_last_fuse = _time_delayed_us;
+					aid_src.time_last_fuse = imu_sample.time_us;
 
 				} else if (is_fusion_failing) {
 					// Some other height source is still working
@@ -166,7 +166,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
 					bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
 				}
 
-				aid_src.time_last_fuse = _time_delayed_us;
+				aid_src.time_last_fuse = imu_sample.time_us;
 				bias_est.setFusionActive();
 				_control_status.flags.baro_hgt = true;
 			}

src/modules/ekf2/EKF/aid_sources/external_vision/ev_control.cpp

@@ -46,7 +46,7 @@ void Ekf::controlExternalVisionFusion(const imuSample &imu_sample)
 	// Check for new external vision data
 	extVisionSample ev_sample;
 
-	if (_ext_vision_buffer && _ext_vision_buffer->pop_first_older_than(_time_delayed_us, &ev_sample)) {
+	if (_ext_vision_buffer && _ext_vision_buffer->pop_first_older_than(imu_sample.time_us, &ev_sample)) {
 
 		bool ev_reset = (ev_sample.reset_counter != _ev_sample_prev.reset_counter);
 

src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp

@@ -41,7 +41,7 @@
 
 #include <ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h>
 
-void Ekf::controlMagFusion()
+void Ekf::controlMagFusion(const imuSample &imu_sample)
 {
 	static constexpr const char *AID_SRC_NAME = "mag";
 	estimator_aid_source3d_s &aid_src = _aid_src_mag;
@@ -59,7 +59,7 @@ void Ekf::controlMagFusion()
 
 	magSample mag_sample;
 
-	if (_mag_buffer && _mag_buffer->pop_first_older_than(_time_delayed_us, &mag_sample)) {
+	if (_mag_buffer && _mag_buffer->pop_first_older_than(imu_sample.time_us, &mag_sample)) {
 
 		if (mag_sample.reset || (_mag_counter == 0)) {
 			// sensor or calibration has changed, reset low pass filter
@@ -185,7 +185,7 @@ void Ekf::controlMagFusion()
 				if (mag_sample.reset || checkHaglYawResetReq() || (wmm_updated && no_ne_aiding_or_pre_takeoff)) {
 					ECL_INFO("reset to %s", AID_SRC_NAME);
 					resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
-					aid_src.time_last_fuse = _time_delayed_us;
+					aid_src.time_last_fuse = imu_sample.time_us;
 
 				} else {
 					// The normal sequence is to fuse the magnetometer data first before fusing
@@ -213,7 +213,7 @@ void Ekf::controlMagFusion()
 					if (no_ne_aiding_or_pre_takeoff) {
 						ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
 						resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
-						aid_src.time_last_fuse = _time_delayed_us;
+						aid_src.time_last_fuse = imu_sample.time_us;
 
 					} else {
 						ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME);
@@ -242,7 +242,7 @@ void Ekf::controlMagFusion()
 					bool reset_heading = !_control_status.flags.yaw_align;
 
 					resetMagStates(_mag_lpf.getState(), reset_heading);
-					aid_src.time_last_fuse = _time_delayed_us;
+					aid_src.time_last_fuse = imu_sample.time_us;
 
 					if (reset_heading) {
 						_control_status.flags.yaw_align = true;

src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp

@@ -39,23 +39,23 @@
 #include "ekf.h"
 #include "ekf_derivation/generated/compute_hagl_innov_var.h"
 
-void Ekf::controlRangeHaglFusion()
+void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
 {
 	static constexpr const char *HGT_SRC_NAME = "RNG";
 
 	bool rng_data_ready = false;
 
 	if (_range_buffer) {
 		// Get range data from buffer and check validity
-		rng_data_ready = _range_buffer->pop_first_older_than(_time_delayed_us, _range_sensor.getSampleAddress());
+		rng_data_ready = _range_buffer->pop_first_older_than(imu_sample.time_us, _range_sensor.getSampleAddress());
 		_range_sensor.setDataReadiness(rng_data_ready);
 
 		// update range sensor angle parameters in case they have changed
 		_range_sensor.setPitchOffset(_params.rng_sens_pitch);
 		_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
 		_range_sensor.setQualityHysteresis(_params.range_valid_quality_s);
 
-		_range_sensor.runChecks(_time_delayed_us, _R_to_earth);
+		_range_sensor.runChecks(imu_sample.time_us, _R_to_earth);
 
 		if (_range_sensor.isDataHealthy()) {
 			// correct the range data for position offset relative to the IMU
@@ -72,7 +72,7 @@ void Ekf::controlRangeHaglFusion()
 
 				_rng_consistency_check.setGate(_params.range_kin_consistency_gate);
 				_rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2),
-							      P(State::vel.idx + 2, State::vel.idx + 2), horizontal_motion, _time_delayed_us);
+							      P(State::vel.idx + 2, State::vel.idx + 2), horizontal_motion, imu_sample.time_us);
 			}
 
 		} else {
@@ -151,7 +151,7 @@ void Ekf::controlRangeHaglFusion()
 					_control_status.flags.rng_hgt = true;
 					stopRngTerrFusion();
 
-					aid_src.time_last_fuse = _time_delayed_us;
+					aid_src.time_last_fuse = imu_sample.time_us;
 				}
 
 			} else {
@@ -183,7 +183,7 @@ void Ekf::controlRangeHaglFusion()
 					// reset vertical velocity
 					resetVerticalVelocityToZero();
 
-					aid_src.time_last_fuse = _time_delayed_us;
+					aid_src.time_last_fuse = imu_sample.time_us;
 
 				} else if (is_fusion_failing) {
 					// Some other height source is still working

src/modules/ekf2/EKF/control.cpp

@@ -102,7 +102,7 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	// control use of observations for aiding
-	controlMagFusion();
+	controlMagFusion(imu_delayed);
 #endif // CONFIG_EKF2_MAGNETOMETER
 
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
@@ -142,7 +142,7 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
 
 #if defined(CONFIG_EKF2_AUXVEL)
 	// Additional horizontal velocity data from an auxiliary sensor can be fused
-	controlAuxVelFusion();
+	controlAuxVelFusion(imu_delayed);
 #endif // CONFIG_EKF2_AUXVEL
 	//
 #if defined(CONFIG_EKF2_TERRAIN)

src/modules/ekf2/EKF/ekf.h

@@ -841,7 +841,7 @@ class Ekf final : public EstimatorInterface
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	// range height
-	void controlRangeHaglFusion();
+	void controlRangeHaglFusion(const imuSample &imu_delayed);
 	bool isConditionalRangeAidSuitable();
 	void stopRngHgtFusion();
 	void stopRngTerrFusion();
@@ -1019,7 +1019,7 @@ class Ekf final : public EstimatorInterface
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	// control fusion of magnetometer observations
-	void controlMagFusion();
+	void controlMagFusion(const imuSample &imu_sample);
 
 	bool checkHaglYawResetReq() const;
 
@@ -1052,7 +1052,7 @@ class Ekf final : public EstimatorInterface
 
 #if defined(CONFIG_EKF2_AUXVEL)
 	// control fusion of auxiliary velocity observations
-	void controlAuxVelFusion();
+	void controlAuxVelFusion(const imuSample &imu_sample);
 	void stopAuxVelFusion();
 #endif // CONFIG_EKF2_AUXVEL
 

src/modules/ekf2/EKF/height_control.cpp

@@ -53,7 +53,7 @@ void Ekf::controlHeightFusion(const imuSample &imu_delayed)
 #endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
-	controlRangeHaglFusion();
+	controlRangeHaglFusion(imu_delayed);
 #endif // CONFIG_EKF2_RANGE_FINDER
 
 	checkHeightSensorRefFallback();