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ekf2: publish GNSS, rng and EV height biases

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bresch 2022-08-03 10:33:39 +02:00 committed by Daniel Agar
parent a2a29ba0dd
commit 090d03eea2
1 changed files with 3 additions and 0 deletions
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3
src/modules/ekf2/EKF2.cpp
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@ -202,12 +202,15 @@ bool EKF2::multi_init(int imu, int mag)
// advertise all topics to ensure consistent uORB instance numbering
_ekf2_timestamps_pub.advertise();
_estimator_baro_bias_pub.advertise();
_estimator_ev_hgt_bias_pub.advertise();
_estimator_event_flags_pub.advertise();
_estimator_gnss_hgt_bias_pub.advertise();
_estimator_gps_status_pub.advertise();
_estimator_innovation_test_ratios_pub.advertise();
_estimator_innovation_variances_pub.advertise();
_estimator_innovations_pub.advertise();
_estimator_optical_flow_vel_pub.advertise();
_estimator_rng_hgt_bias_pub.advertise();
_estimator_sensor_bias_pub.advertise();
_estimator_states_pub.advertise();
_estimator_status_flags_pub.advertise();