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ekf2: estimator aid source status (range height)

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Daniel Agar
2022-05-25 09:25:12 -04:00
parent 1e25aee6fa
commit 58ea6235fe
9 changed files with 63 additions and 27 deletions
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src/modules/ekf2/EKF2.hpp
+4
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@@ -256,6 +256,7 @@ private:
hrt_abstime _last_gps_status_published{0};
hrt_abstime _status_baro_hgt_pub_last{0};
hrt_abstime _status_rng_hgt_pub_last{0};
hrt_abstime _status_fake_pos_pub_last{0};
@@ -322,7 +323,10 @@ private:
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_baro_hgt_pub{ORB_ID(estimator_aid_src_baro_hgt)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_rng_hgt_pub{ORB_ID(estimator_aid_src_rng_hgt)};
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)};
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)};