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ekf2: add new estimator_gps_status.msg

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- includes the estimator status check fail bits broken out as descriptive booleans
 - absorbs ekf_gps_drift.msg
This commit is contained in:
Daniel Agar
2022-02-18 11:56:43 -05:00
parent f8d7574d3c
commit 591b7b6934
11 changed files with 93 additions and 83 deletions
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src/modules/logger/logged_topics.cpp
+3 -3
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@@ -138,9 +138,9 @@ void LoggedTopics::add_default_topics()
#endif
// always add the first instance
add_topic("ekf_gps_drift", 1000);
add_topic("estimator_baro_bias", 500);
add_topic("estimator_event_flags", 0);
add_topic("estimator_gps_status", 1000);
add_topic("estimator_innovation_test_ratios", 500);
add_topic("estimator_innovation_variances", 500);
add_topic("estimator_innovations", 500);
@@ -152,9 +152,9 @@ void LoggedTopics::add_default_topics()
add_topic("estimator_visual_odometry_aligned", 200);
add_topic("yaw_estimator_status", 1000);
add_optional_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
@@ -194,9 +194,9 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_local_position_groundtruth", 100);
// EKF replay
add_topic("ekf_gps_drift");
add_topic("estimator_baro_bias");
add_topic("estimator_event_flags");
add_topic("estimator_gps_status");
add_topic("estimator_innovation_test_ratios");
add_topic("estimator_innovation_variances");
add_topic("estimator_innovations");