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ekf2: multi-ekf force initial selection (and sensor_selection publication)

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- depending on the particular sensor configuration and startup timing we were getting an initial sensor_selection publication without valid accel & gyro device ids (only applies to Multi-EKF)
 - fix faulty accel and gyro device ids
 - initialize unused test ratio fields to NAN for logging clarity
This commit is contained in:
Daniel Agar
2020-12-07 21:37:24 -05:00
committed by GitHub
parent 3276916df9
commit 681590c510
3 changed files with 118 additions and 100 deletions
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src/modules/ekf2/EKF2Selector.hpp
+3 -3
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@@ -73,7 +73,7 @@ private:
void PublishVehicleAttitude(bool reset = false);
void PublishVehicleLocalPosition(bool reset = false);
void PublishVehicleGlobalPosition(bool reset = false);
void SelectInstance(uint8_t instance);
bool SelectInstance(uint8_t instance);
// Update the error scores for all available instances
bool UpdateErrorScores();
@@ -100,8 +100,8 @@ private:
hrt_abstime time_last_selected{0};
float combined_test_ratio{0.f};
float relative_test_ratio{0.f};
float combined_test_ratio{NAN};
float relative_test_ratio{NAN};
bool healthy{false};