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ekf2: add AUX velocity aid src status

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- also includes velocity and position helpers for using estimator aid
   source status messages that will later be used for GPS, EV, etc
This commit is contained in:
Daniel Agar
2022-07-29 12:02:31 -04:00
parent a397c09e59
commit 41d9c3dd2a
8 changed files with 146 additions and 30 deletions
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src/modules/ekf2/EKF2.hpp
+3
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@@ -266,6 +266,8 @@ private:
hrt_abstime _status_mag_pub_last{0};
hrt_abstime _status_mag_heading_pub_last{0};
hrt_abstime _status_aux_vel_pub_last{0};
float _last_baro_bias_published{};
float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
@@ -339,6 +341,7 @@ private:
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_ev_yaw_pub{ORB_ID(estimator_aid_src_ev_yaw)};
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_aux_vel_pub{ORB_ID(estimator_aid_src_aux_vel)};
// publications with topic dependent on multi-mode
uORB::PublicationMulti<vehicle_attitude_s> _attitude_pub;