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ekf2: Publish and log EKF warning and information events (NEW msg estimator_event_flags)

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* msg: Add estinator information and warning events message (estimator_event_flags)
 * ekf2: publish information and warning events
 * logger: log estimator_event_flags
 * update ecl submodule to latest

Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Paul Riseborough
2021-03-07 16:16:48 -05:00
committed by GitHub
co-authored by Daniel Agar
parent 18a8d89fa4
commit 4465c4fbf6
8 changed files with 105 additions and 2 deletions
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src/modules/logger/logged_topics.cpp
+2 -1
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@@ -140,12 +140,13 @@ void LoggedTopics::add_default_topics()
add_topic("estimator_selector_status");
add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);