fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 14:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF2.hpp
+3 -2
View File
@@ -85,7 +85,7 @@
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/vehicle_odometry.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/wind.h>
#include <uORB/topics/yaw_estimator_status.h>
#include "Utility/PreFlightChecker.hpp"
@@ -254,13 +254,14 @@ private:
uORB::PublicationMulti<estimator_status_flags_s> _estimator_status_flags_pub{ORB_ID(estimator_status_flags)};
uORB::PublicationMulti<vehicle_odometry_s> _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
uORB::PublicationMulti<wind_estimate_s> _wind_pub{ORB_ID(wind_estimate)};
// publications with topic dependent on multi-mode
uORB::PublicationMulti<vehicle_attitude_s> _attitude_pub;
uORB::PublicationMulti<vehicle_local_position_s> _local_position_pub;
uORB::PublicationMulti<vehicle_global_position_s> _global_position_pub;
uORB::PublicationMulti<vehicle_odometry_s> _odometry_pub;
uORB::PublicationMulti<wind_s> _wind_pub;
PreFlightChecker _preflt_checker;