Revert "Simulator: Remove EKF2 based wait"

This reverts commit 1834c156d2.
2026-11-15 03:41:35 +08:00 · 2020-01-24 12:04:47 +01:00
parent 30188d2884
commit 30edcad752
2 changed files with 73 additions and 16 deletions
@@ -232,6 +232,14 @@ private:

 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 	px4::atomic<bool> _has_initialized {false};
+
+	int _ekf2_timestamps_sub{-1};
+
+	enum class State {
+		WaitingForFirstEkf2Timestamp = 0,
+		WaitingForActuatorControls = 1,
+		WaitingForEkf2Timestamp = 2,
+	};
 #endif

 	DEFINE_PARAMETERS(