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added INDI wind estiamte message to logging

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This commit is contained in:
Marvin Harms
2022-06-29 14:37:52 +02:00
parent 95a5081e64
commit 521e8e0bff
6 changed files with 27 additions and 1 deletions
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src/modules/fw_dyn_soar_control/FixedwingPositionINDIControl.cpp
+15
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@@ -722,6 +722,21 @@ FixedwingPositionINDIControl::Run()
_actuators_0_pub.publish(_actuators);
//print_message(_actuators);
// =====================
// publish wind estimate
// =====================
//_soaring_controller_wind = {};
_soaring_controller_wind.timestamp = hrt_absolute_time();
_soaring_controller_wind.wind_estimate[0] = wind(0);
_soaring_controller_wind.wind_estimate[1] = wind(1);
_soaring_controller_wind.wind_estimate[2] = wind(2);
_soaring_controller_wind.wind_estimate_filtered[0] = _wind_estimate(0);
_soaring_controller_wind.wind_estimate_filtered[1] = _wind_estimate(1);
_soaring_controller_wind.wind_estimate_filtered[2] = _wind_estimate(2);
_soaring_controller_wind_pub.publish(_soaring_controller_wind);
if (_counter==100) {
_counter = 0;
//PX4_INFO("frequency: \t%.3f", (double)(1000000*100)/(hrt_absolute_time()-_last_time));