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select single system-wide wind estimate message (current best)

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- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
 - rename message wind_estimate to wind
 - publish wind from currently used ekf instance (ekf2selector)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-02-20 13:15:01 -05:00
committed by GitHub
parent 9d65e9a980
commit 0ea8104344
17 changed files with 119 additions and 63 deletions
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src/lib/airspeed_validator/AirspeedValidator.cpp
+2 -2
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@@ -86,10 +86,10 @@ AirspeedValidator::update_wind_estimator(const uint64_t time_now_usec, float air
}
// this function returns the current states of the wind estimator to be published in the airspeed module
wind_estimate_s
airspeed_wind_s
AirspeedValidator::get_wind_estimator_states(uint64_t timestamp)
{
wind_estimate_s wind_est = {};
airspeed_wind_s wind_est = {};
wind_est.timestamp = timestamp;
float wind[2];