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ekf2: add OF estimator aid src status

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This commit is contained in:
Daniel Agar
2022-10-18 14:19:16 -04:00
parent 75c63aee2a
commit 535415a537
15 changed files with 471 additions and 377 deletions
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src/modules/ekf2/EKF2.hpp
+4
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@@ -285,6 +285,8 @@ private:
hrt_abstime _status_aux_vel_pub_last{0};
hrt_abstime _status_optical_flow_pub_last{0};
float _last_baro_bias_published{};
float _last_gnss_hgt_bias_published{};
float _last_rng_hgt_bias_published{};
@@ -374,6 +376,8 @@ private:
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_aux_vel_pub{ORB_ID(estimator_aid_src_aux_vel)};
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_optical_flow_pub{ORB_ID(estimator_aid_src_optical_flow)};
// publications with topic dependent on multi-mode
uORB::PublicationMulti<vehicle_attitude_s> _attitude_pub;
uORB::PublicationMulti<vehicle_local_position_s> _local_position_pub;