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msg: rename sensor_bias -> estimator_sensor_bias

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This commit is contained in:
Daniel Agar
2020-01-27 09:03:27 +01:00
committed by Lorenz Meier
parent db49e5abcd
commit 10410fc868
11 changed files with 37 additions and 39 deletions
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src/modules/ekf2/ekf2_main.cpp
+11 -11
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@@ -56,15 +56,15 @@
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/estimator_innovations.h>
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/topics/ekf_gps_position.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/ekf_gps_drift.h>
#include <uORB/topics/ekf_gps_position.h>
#include <uORB/topics/estimator_innovations.h>
#include <uORB/topics/estimator_sensor_bias.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/vehicle_air_data.h>
@@ -263,20 +263,20 @@ private:
vehicle_land_detected_s _vehicle_land_detected{};
vehicle_status_s _vehicle_status{};
uORB::Publication<estimator_innovations_s> _estimator_innovations_pub{ORB_ID(estimator_innovations)};
uORB::Publication<estimator_innovations_s> _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
uORB::Publication<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
uORB::Publication<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
uORB::Publication<ekf_gps_drift_s> _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
uORB::Publication<ekf_gps_position_s> _blended_gps_pub{ORB_ID(ekf_gps_position)};
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_sensor_bias_s> _estimator_sensor_bias_pub{ORB_ID(estimator_sensor_bias)};
uORB::Publication<estimator_status_s> _estimator_status_pub{ORB_ID(estimator_status)};
uORB::Publication<sensor_bias_s> _sensor_bias_pub{ORB_ID(sensor_bias)};
uORB::Publication<vehicle_attitude_s> _att_pub{ORB_ID(vehicle_attitude)};
uORB::Publication<vehicle_odometry_s> _vehicle_odometry_pub{ORB_ID(vehicle_odometry)};
uORB::PublicationMulti<wind_estimate_s> _wind_pub{ORB_ID(wind_estimate)};
uORB::PublicationData<vehicle_global_position_s> _vehicle_global_position_pub{ORB_ID(vehicle_global_position)};
uORB::PublicationData<vehicle_local_position_s> _vehicle_local_position_pub{ORB_ID(vehicle_local_position)};
uORB::PublicationData<vehicle_odometry_s> _vehicle_visual_odometry_aligned_pub{ORB_ID(vehicle_visual_odometry_aligned)};
uORB::PublicationMulti<wind_estimate_s> _wind_pub{ORB_ID(wind_estimate)};
Ekf _ekf;
@@ -753,7 +753,7 @@ void Ekf2::Run()
imuSample imu_sample_new {};
hrt_abstime imu_dt = 0; // for tracking time slip later
sensor_bias_s bias{};
estimator_sensor_bias_s bias{};
if (_imu_sub_index >= 0) {
vehicle_imu_s imu;
@@ -1490,7 +1490,7 @@ void Ekf2::Run()
bias.mag_bias[1] = _last_valid_mag_cal[1];
bias.mag_bias[2] = _last_valid_mag_cal[2];
_sensor_bias_pub.publish(bias);
_estimator_sensor_bias_pub.publish(bias);
}
// publish estimator status