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ekf2 replay logic:

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support recent change in ekf2 module which made it only publish the output
when an ekf update was occuring. in case the ekf2 module does not update
the replay module will be informed and will thus not wait for an update
but continue preparing the next sample of sensor data
This commit is contained in:
tumbili
2016-04-01 13:54:46 +02:00
parent 994947ea84
commit 4da93a316d
2 changed files with 22 additions and 3 deletions
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src/modules/ekf2_replay/ekf2_replay_main.cpp
+10 -2
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@@ -436,6 +436,13 @@ void Ekf2Replay::logIfUpdated()
// update attitude
struct vehicle_attitude_s att = {};
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att);
// if the timestamp of the attitude is zero, then this means that the ekf did not
// do an update so we can ignore this message and just continue
if (att.timestamp == 0) {
return;
}
memset(&log_message.body.att.q_w, 0, sizeof(log_ATT_s));
log_message.type = LOG_ATT_MSG;
@@ -695,8 +702,9 @@ void Ekf2Replay::task_main()
read_first_header = true;
if (header[0] != HEAD_BYTE1 || header[1] != HEAD_BYTE2) {
PX4_WARN("bad log header\n");
if ((header[0] != HEAD_BYTE1 || header[1] != HEAD_BYTE2)) {
// we assume that the log file is finished here
PX4_WARN("Done!");
_task_should_exit = true;
continue;
}