fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 12:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: estimator aid source status (GPS pos, GPS vel)

Browse Source
This commit is contained in:
Daniel Agar
2022-05-23 16:21:49 -04:00
parent 1ae467e9cd
commit 639222dd65
16 changed files with 813 additions and 628 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF2.hpp
+6
View File
@@ -255,6 +255,9 @@ private:
hrt_abstime _last_sensor_bias_published{0};
hrt_abstime _last_gps_status_published{0};
hrt_abstime _status_gnss_vel_pub_last{0};
hrt_abstime _status_gnss_pos_pub_last{0};
hrt_abstime _status_fake_pos_pub_last{0};
float _last_baro_bias_published{};
@@ -316,6 +319,9 @@ private:
uORB::PublicationMulti<vehicle_odometry_s> _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
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)};
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
// publications with topic dependent on multi-mode