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write flow innovations and flow innovation variances to replay log

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Roman 2016-03-10 09:35:45 +01:00 committed by Lorenz Meier
parent 7a6a09f1a1
commit 77697c586f
1 changed files with 23 additions and 1 deletions
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24
src/modules/ekf2_replay/ekf2_replay_main.cpp
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@ -34,10 +34,12 @@
/**
* @file ekf2_replay_main.cpp
* Replay module for ekf2. This module reads ekf2 replay messages from a px4 logfile.
* It uses this data to create sensor data for the ekf2 module.
* It uses this data to create sensor data for the ekf2 module. It also subscribes to the
* output data of the estimator and writes it to a replay log file.
*
* @author Roman Bapst
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_tasks.h>
@ -86,6 +88,7 @@ struct {
struct log_EST3_s est3;
struct log_EST4_s innov;
struct log_EST5_s innov2;
struct log_EST6_s innov3;
} body;
} log_message;
@ -240,6 +243,7 @@ void Ekf2Replay::publishEstimatorInput()
if (_flow_pub == nullptr && _read_part3) {
_flow_pub = orb_advertise(ORB_ID(optical_flow), &_flow);
} else if (_flow_pub != nullptr && _read_part3) {
orb_publish(ORB_ID(optical_flow), _flow_pub, &_flow);
}
@ -248,6 +252,7 @@ void Ekf2Replay::publishEstimatorInput()
if (_range_pub == nullptr && _read_part4) {
_range_pub = orb_advertise(ORB_ID(distance_sensor), &_range);
} else if (_range_pub != nullptr && _read_part4) {
orb_publish(ORB_ID(distance_sensor), _range_pub, &_range);
}
@ -408,6 +413,7 @@ bool Ekf2Replay::needToSaveMessage(uint8_t type)
type == LOG_EST3_MSG ||
type == LOG_EST4_MSG ||
type == LOG_EST5_MSG ||
type == LOG_EST6_MSG ||
type == LOG_CTS_MSG) {
return false;
}
@ -558,6 +564,21 @@ void Ekf2Replay::logIfUpdated()
log_message.body.innov2.s[6] = innov.heading_innov;
log_message.body.innov2.s[7] = innov.heading_innov_var;
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST5_MSG].length);
// optical flow innovations and innovation variances
log_message.type = LOG_EST6_MSG;
log_message.head1 = HEAD_BYTE1;
log_message.head2 = HEAD_BYTE2;
memset(&(log_message.body.innov3.s), 0, sizeof(log_message.body.innov3.s));
for (unsigned i = 0; i < 2; i++) {
log_message.body.innov3.s[i] = innov.flow_innov[i];
log_message.body.innov3.s[i + 2] = innov.flow_innov_var[i];
}
log_message.body.innov3.s[4] = innov.hagl_innov;
log_message.body.innov3.s[5] = innov.hagl_innov_var;
writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST6_MSG].length);
}
// update control state
@ -593,6 +614,7 @@ void Ekf2Replay::publishAndWaitForEstimator()
if (pret == 0) {
PX4_WARN("timeout");
}
if (pret < 0) {
PX4_WARN("poll error");
}