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EKF: add baro bias estimator using GNSS altitude

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bresch
2021-07-19 16:53:45 -04:00
committed by Daniel Agar
parent 10f4fc7783
commit 54c7e74de3
13 changed files with 337 additions and 2 deletions
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src/modules/logger/logged_topics.cpp
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@@ -137,6 +137,7 @@ void LoggedTopics::add_default_topics()
#else
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificially limited until PlotJuggler fixed
add_topic("estimator_selector_status");
add_topic_multi("baro_bias_estimate", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);