refactor(firmware): extract vehicle state estimator (LOS-166) - #309
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July 28, 2026 09:44
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Описание
Первый этап LOS-166: логика оценки состояния вынесена из
ControlLoopProcessorв отдельныйVehicleStateEstimatorбез изменения математики и внешних контрактов контура управления.Тип изменения
Что изменено
VehicleStateEstimatorи явные структуры входного/выходного снимка.ControlLoopProcessor; добавлены 7 unit-тестов и регистрация новых файлов в host/ESP32 CMake.ImuHandler, Madgwick и LOS-221 намеренно не изменялось.Как протестировано
sim_host.RC_PROFILE_LOOP=ON; тесты estimator прошли.git diff --check— без ошибок.Сборка ESP-IDF на целевую платформу не запускалась:
idf.pyнедоступен в окружении.clang-formatтакже отсутствует; новые файлы вручную проверены на длину строк.Чек-лист
Breaking Changes
Нет.
Производительность
На целевом оборудовании не измерялась. Граница profiler stage сохранена.
Связанные задачи
Related to LOS-166.
На что обратить внимание при ревью
VehicleStateEstimator.