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ekf2: use dedicated aid_src message for flow for terrain aiding

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bresch
2023-01-21 15:31:19 -05:00
committed by Daniel Agar
parent b4b48cae75
commit 6e30f8f5cb
8 changed files with 49 additions and 21 deletions
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src/modules/ekf2/EKF2.hpp
+2
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@@ -288,6 +288,7 @@ private:
hrt_abstime _status_aux_vel_pub_last{0};
hrt_abstime _status_optical_flow_pub_last{0};
hrt_abstime _status_terrain_optical_flow_pub_last{0};
float _last_baro_bias_published{};
float _last_gnss_hgt_bias_published{};
@@ -378,6 +379,7 @@ private:
uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_aux_vel_pub{ORB_ID(estimator_aid_src_aux_vel)};
uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_optical_flow_pub{ORB_ID(estimator_aid_src_optical_flow)};
uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_terrain_optical_flow_pub{ORB_ID(estimator_aid_src_terrain_optical_flow)};
// publications with topic dependent on multi-mode
uORB::PublicationMulti<vehicle_attitude_s> _attitude_pub;