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ekf2: drag fusion add aid source status topic

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This commit is contained in:
Daniel Agar
2023-10-05 13:15:30 -04:00
parent 028733e1c7
commit 5f87f3a046
7 changed files with 70 additions and 28 deletions
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src/modules/ekf2/EKF2.cpp
+5
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@@ -1012,6 +1012,11 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
PublishAidSourceStatus(_ekf.aid_src_baro_hgt(), _status_baro_hgt_pub_last, _estimator_aid_src_baro_hgt_pub);
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_DRAG_FUSION)
// drag
PublishAidSourceStatus(_ekf.aid_src_drag(), _status_drag_pub_last, _estimator_aid_src_drag_pub);
#endif // CONFIG_EKF2_DRAG_FUSION
#if defined(CONFIG_EKF2_RANGE_FINDER)
// RNG height
PublishAidSourceStatus(_ekf.aid_src_rng_hgt(), _status_rng_hgt_pub_last, _estimator_aid_src_rng_hgt_pub);