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OpticalFlow: add optical flow velocity logging

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This is important to align the flow with the IMU data and verify that
the compensation is properly done
This commit is contained in:
bresch
2020-10-26 14:10:25 -04:00
committed by Daniel Agar
parent 8e710294b3
commit 09cc3120e2
7 changed files with 40 additions and 1 deletions
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src/modules/ekf2/EKF2.hpp
+5
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@@ -81,6 +81,7 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/yaw_estimator_status.h>
#include <uORB/topics/estimator_optical_flow_vel.h>
#include "Utility/PreFlightChecker.hpp"
@@ -125,6 +126,7 @@ private:
void publish_odometry(const hrt_abstime &timestamp, const imuSample &imu, const vehicle_local_position_s &lpos);
void publish_wind_estimate(const hrt_abstime &timestamp);
void publish_yaw_estimator_status(const hrt_abstime &timestamp);
void publish_estimator_optical_flow_vel(const hrt_abstime &timestamp);
/*
* Calculate filtered WGS84 height from estimated AMSL height
@@ -169,6 +171,8 @@ private:
bool new_ev_data_received = false;
vehicle_odometry_s _ev_odom{};
bool _new_optical_flow_data_received{false};
uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
uORB::Subscription _ev_odom_sub{ORB_ID(vehicle_visual_odometry)};
@@ -201,6 +205,7 @@ private:
uORB::Publication<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
uORB::Publication<estimator_innovations_s> _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
uORB::Publication<estimator_innovations_s> _estimator_innovations_pub{ORB_ID(estimator_innovations)};
uORB::Publication<estimator_optical_flow_vel_s> _estimator_optical_flow_vel_pub{ORB_ID(estimator_optical_flow_vel)};
uORB::Publication<estimator_sensor_bias_s> _estimator_sensor_bias_pub{ORB_ID(estimator_sensor_bias)};
uORB::Publication<estimator_states_s> _estimator_states_pub{ORB_ID(estimator_states)};
uORB::PublicationData<estimator_status_s> _estimator_status_pub{ORB_ID(estimator_status)};