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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/modules/navigator/rtl.cpp
+4 -4
View File
@@ -670,12 +670,12 @@ void RTL::get_rtl_xy_z_speed(float &xy, float &z)
matrix::Vector2f RTL::get_wind()
{
_wind_estimate_sub.update();
_wind_sub.update();
matrix::Vector2f wind;
if (hrt_absolute_time() - _wind_estimate_sub.get().timestamp < 1_s) {
wind(0) = _wind_estimate_sub.get().windspeed_north;
wind(1) = _wind_estimate_sub.get().windspeed_east;
if (hrt_absolute_time() - _wind_sub.get().timestamp < 1_s) {
wind(0) = _wind_sub.get().windspeed_north;
wind(1) = _wind_sub.get().windspeed_east;
}
return wind;
src/modules/navigator/rtl.h
+2 -2
View File
@@ -50,7 +50,7 @@
#include <uORB/topics/home_position.h>
#include <uORB/topics/rtl_flight_time.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/wind.h>
#include <matrix/math.hpp>
#include <lib/ecl/geo/geo.h>
@@ -169,7 +169,7 @@ private:
param_t _param_rtl_xy_speed{PARAM_INVALID};
param_t _param_rtl_descent_speed{PARAM_INVALID};
uORB::SubscriptionData<wind_estimate_s> _wind_estimate_sub{ORB_ID(wind_estimate)};
uORB::SubscriptionData<wind_s> _wind_sub{ORB_ID(wind)};
uORB::Publication<rtl_flight_time_s> _rtl_flight_time_pub{ORB_ID(rtl_flight_time)};
};