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ekf2: multi instance numbering consistent with uORB publication instances

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This commit is contained in:
Daniel Agar
2021-01-09 13:20:26 -05:00
parent c3fc96fd42
commit 662f177830
2 changed files with 81 additions and 52 deletions
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src/modules/ekf2/EKF2.hpp
+6 -2
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@@ -96,7 +96,7 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem
{
public:
EKF2() = delete;
EKF2(int instance, const px4::wq_config_t &config, int imu, int mag, bool replay_mode);
EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode);
~EKF2() override;
/** @see ModuleBase */
@@ -118,6 +118,10 @@ public:
static bool trylock_module() { return (pthread_mutex_trylock(&ekf2_module_mutex) == 0); }
static void unlock_module() { pthread_mutex_unlock(&ekf2_module_mutex); }
bool multi_init(int imu, int mag);
int instance() const { return _instance; }
private:
void Run() override;
@@ -158,7 +162,7 @@ private:
const bool _replay_mode{false}; ///< true when we use replay data from a log
const bool _multi_mode;
const int _instance;
int _instance{0};
px4::atomic_bool _task_should_exit{false};