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delete SYS_MC_EST_GROUP

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- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously
This commit is contained in:
Daniel Agar
2023-12-18 13:03:52 -05:00
parent 1b1479a92b
commit 78bbb66568
29 changed files with 154 additions and 209 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+8
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@@ -137,6 +137,14 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
bool
BlockLocalPositionEstimator::init()
{
uORB::SubscriptionData<vehicle_local_position_s> vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
vehicle_local_position_sub.update();
if (vehicle_local_position_sub.advertised() && (hrt_elapsed_time(&vehicle_local_position_sub.get().timestamp) < 1_s)) {
PX4_ERR("init failed, vehicle_local_position already advertised");
return false;
}
if (!_sensors_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;