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ekf2: publish flow vel only if compensated flow is available

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- fix a few publication timestamp_samples
This commit is contained in:
Daniel Agar
2022-02-14 10:55:10 -05:00
parent b157afde6a
commit 5370733d62
3 changed files with 41 additions and 33 deletions
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src/modules/ekf2/EKF2.hpp
+3 -3
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@@ -140,13 +140,13 @@ private:
void PublishEkfDriftMetrics(const hrt_abstime &timestamp);
void PublishEventFlags(const hrt_abstime &timestamp);
void PublishGlobalPosition(const hrt_abstime &timestamp);
void PublishInnovations(const hrt_abstime &timestamp, const imuSample &imu);
void PublishInnovations(const hrt_abstime &timestamp);
void PublishInnovationTestRatios(const hrt_abstime &timestamp);
void PublishInnovationVariances(const hrt_abstime &timestamp);
void PublishLocalPosition(const hrt_abstime &timestamp);
void PublishOdometry(const hrt_abstime &timestamp, const imuSample &imu);
void PublishOdometryAligned(const hrt_abstime &timestamp, const vehicle_odometry_s &ev_odom);
void PublishOpticalFlowVel(const hrt_abstime &timestamp, const optical_flow_s &optical_flow);
void PublishOpticalFlowVel(const hrt_abstime &timestamp);
void PublishSensorBias(const hrt_abstime &timestamp);
void PublishStates(const hrt_abstime &timestamp);
void PublishStatus(const hrt_abstime &timestamp);
@@ -158,7 +158,7 @@ private:
void UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps);
bool UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odometry_s &ev_odom);
bool UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps, optical_flow_s &optical_flow);
bool UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps);