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ekf2: use new IMU and mag bias and variance getters in ecl/EKF

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- reset IMU bias on calibration change (only works with multi-ekf)
 - standardize PX4_INFO/PX4_WARN/PX4_ERR output for multi-ekf with instance number
 - https://github.com/PX4/PX4-ECL/pull/924
This commit is contained in:
Daniel Agar
2020-12-08 16:06:18 -05:00
committed by GitHub
parent 8f5f564c05
commit 82746af07a
4 changed files with 49 additions and 86 deletions
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src/modules/logger/logged_topics.cpp
+1 -1
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@@ -121,7 +121,7 @@ void LoggedTopics::add_default_topics()
add_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_sensor_bias", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);