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optical flow sensor pipeline overhaul

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- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
This commit is contained in:
Daniel Agar
2022-06-17 16:15:55 -04:00
co-authored by alexklimaj
parent 2777f0a19b
commit 1f923f2cda
47 changed files with 1230 additions and 511 deletions
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src/modules/simulator/simulator.h
+2 -2
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@@ -64,10 +64,10 @@
#include <uORB/topics/esc_report.h>
#include <uORB/topics/irlock_report.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/sensor_optical_flow.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
@@ -191,7 +191,7 @@ private:
// uORB publisher handlers
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::PublicationMulti<optical_flow_s> _flow_pub{ORB_ID(optical_flow)};
uORB::PublicationMulti<sensor_optical_flow_s> _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)};
uORB::Publication<irlock_report_s> _irlock_report_pub{ORB_ID(irlock_report)};
uORB::Publication<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};
uORB::Publication<vehicle_odometry_s> _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};