fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 14:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: baro bias publish minor cleanup

Browse Source 
- naming consistency (estimator prefix as "namespace")
 - only publish if baro is available and bias is changing as a small logging optimization
 - avoid unnecessary copying (get const reference to status directly)
 - trivial code style fixes
This commit is contained in:
Daniel Agar
2021-08-02 13:59:38 -04:00
parent d997a8d308
commit 93aa6e3f78
9 changed files with 37 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/logger/logged_topics.cpp
+1 -1
View File
@@ -138,7 +138,6 @@ void LoggedTopics::add_default_topics()
#else
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificially limited until PlotJuggler fixed
add_topic("estimator_selector_status");
add_topic_multi("baro_bias_estimate", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
@@ -146,6 +145,7 @@ void LoggedTopics::add_default_topics()
#endif
add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);