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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 19:15:01 +01:00
committed by GitHub
parent 9d65e9a980
commit 0ea8104344
17 changed files with 119 additions and 63 deletions
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src/modules/logger/logged_topics.cpp
+3 -1
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@@ -113,6 +113,7 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_status");
add_topic("vehicle_status_flags");
add_topic("vtol_vehicle_status", 200);
add_topic("wind", 1000);
// Control allocation topics
add_topic("vehicle_angular_acceleration_setpoint", 20);
@@ -123,6 +124,7 @@ void LoggedTopics::add_default_topics()
// multi topics
add_topic_multi("actuator_outputs", 100, 3);
add_topic_multi("airspeed_wind", 1000);
add_topic_multi("logger_status", 0, 2);
add_topic_multi("multirotor_motor_limits", 1000, 2);
add_topic_multi("rate_ctrl_status", 200, 2);
@@ -149,8 +151,8 @@ void LoggedTopics::add_default_topics()
add_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("wind_estimate", 1000); // published by both ekf2 and airspeed_selector
// log all raw sensors at minimal rate (at least 1 Hz)
add_topic_multi("battery_status", 300, 2);