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AC_PrecLand: Use sensor timestamp to match inertial frame corrections #18548

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AC_PrecLand: Use sensor timestamp to match inertial frame corrections #18548

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Commits on Mar 13, 2024

  1. AC_PrecLand: Use sensor timestamp to match inertial frame corrections 

    Co-authored-by: Dr.-Ing. Amilcar do Carmo Lucas <amilcar.lucas@iav.de>

If the sensor sets the timestamp with the sensor frame then it attempts to match it against inertial frame timestamps.
Sensor frames can have widely varying latencies so this is essential to safely correlate the attitude compensation against any given sensor reading.
This effectively auto-detects the sensor latency and makes the PLND_LAG manual setting unnecessary.
The only caveat is that PLND_LAG must be set large enough to hold the biggest sensor latency.
So if used with a sensor that supports time-stamping PLND_LAG should be set to something large like 0.250 (s).

- Separate out sync_frames logic, make _inertial_data_delayed class struct
- Run forward prediction from synced frame
    @amilcarlucas
    amilcarlucas committed Mar 13, 2024
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