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ekf2: add terrain state

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bresch
2024-06-26 11:05:38 +02:00
committed by Silvan Fuhrer
parent 09f066a73a
commit 68980b59e2
53 changed files with 1936 additions and 1930 deletions
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src/modules/logger/logged_topics.cpp
-6
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@@ -165,7 +165,6 @@ void LoggedTopics::add_default_topics()
// always add the first instance
add_topic("estimator_baro_bias", 500);
add_topic("estimator_gnss_hgt_bias", 500);
add_topic("estimator_rng_hgt_bias", 500);
add_topic("estimator_ev_pos_bias", 500);
add_topic("estimator_event_flags", 0);
add_topic("estimator_gps_status", 1000);
@@ -181,7 +180,6 @@ void LoggedTopics::add_default_topics()
add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_rng_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_ev_pos_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES);
@@ -209,7 +207,6 @@ void LoggedTopics::add_default_topics()
// add_optional_topic_multi("estimator_aid_src_gnss_pos", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_mag", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_optical_flow", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_terrain_optical_flow", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_aux_global_position", 100, MAX_ESTIMATOR_INSTANCES);
@@ -267,7 +264,6 @@ void LoggedTopics::add_default_topics()
// EKF replay
add_topic("estimator_baro_bias");
add_topic("estimator_gnss_hgt_bias");
add_topic("estimator_rng_hgt_bias");
add_topic("estimator_ev_pos_bias");
add_topic("estimator_event_flags");
add_topic("estimator_gps_status");
@@ -301,8 +297,6 @@ void LoggedTopics::add_default_topics()
add_optional_topic_multi("estimator_aid_src_gravity", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_terrain_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_terrain_range_finder", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_sideslip", 0, MAX_ESTIMATOR_INSTANCES);
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */