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wind_estimate message: add identifier for source

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-12-08 11:43:27 -05:00
committed by Daniel Agar
parent bc1c8fb73a
commit 59564af860
3 changed files with 21 additions and 0 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+12
View File
@@ -486,6 +486,7 @@ void AirspeedModule::update_wind_estimator_sideslip()
_wind_estimate_sideslip.beta_innov = _wind_estimator_sideslip.get_beta_innov();
_wind_estimate_sideslip.beta_innov_var = _wind_estimator_sideslip.get_beta_innov_var();
_wind_estimate_sideslip.tas_scale = _wind_estimator_sideslip.get_tas_scale();
_wind_estimate_sideslip.source = wind_estimate_s::SOURCE_AS_BETA_ONLY;
}
void AirspeedModule::update_ground_minus_wind_airspeed()
@@ -593,6 +594,17 @@ void AirspeedModule::select_airspeed_and_publish()
/* publish the wind estimator states from all airspeed validators */
for (int i = 0; i < _number_of_airspeed_sensors; i++) {
wind_estimate_s wind_est = _airspeed_validator[i].get_wind_estimator_states(_time_now_usec);
if (i == 0) {
wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_1;
} else if (i == 1) {
wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_2;
} else {
wind_est.source = wind_estimate_s::SOURCE_AS_SENSOR_3;
}
_wind_est_pub[i + 1].publish(wind_est);
}
src/modules/ekf2/EKF2.cpp
+1
View File
@@ -1028,6 +1028,7 @@ void EKF2::PublishWindEstimate(const hrt_abstime &timestamp)
wind_estimate.variance_east = wind_vel_var(1);
wind_estimate.tas_scale = 0.0f; //leave at 0 as scale is not estimated in ekf
wind_estimate.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
wind_estimate.source = wind_estimate_s::SOURCE_EKF;
_wind_pub.publish(wind_estimate);
}