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ekf2: advertise immediately to ensure consistent uORB instance numbering

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Daniel Agar
2020-09-01 14:27:20 -04:00
parent 9ccc1db649
commit 9215fb57a2
1 changed files with 18 additions and 0 deletions
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src/modules/ekf2/EKF2.cpp
+18
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@@ -147,6 +147,24 @@ EKF2::EKF2(bool replay_mode):
updateParams();
_ekf.set_min_required_gps_health_time(_param_ekf2_req_gps_h.get() * 1_s);
// advertise immediately to ensure consistent uORB instance numbering
_att_pub.advertise();
_blended_gps_pub.advertise();
_ekf2_timestamps_pub.advertise();
_ekf_gps_drift_pub.advertise();
_estimator_innovation_test_ratios_pub.advertise();
_estimator_innovation_variances_pub.advertise();
_estimator_innovations_pub.advertise();
_estimator_sensor_bias_pub.advertise();
_estimator_states_pub.advertise();
_estimator_status_pub.advertise();
_vehicle_global_position_pub.advertise();
_vehicle_local_position_pub.advertise();
_vehicle_odometry_pub.advertise();
_vehicle_visual_odometry_aligned_pub.advertise();
_wind_pub.advertise();
_yaw_est_pub.advertise();
}
EKF2::~EKF2()