fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-11 12:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: add kconfig option to enable/disable GNSS yaw

Browse Source
This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent 8b2205810b
commit 98ff1afc19
13 changed files with 142 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF2.hpp
+6 -2
View File
@@ -282,7 +282,9 @@ private:
hrt_abstime _status_gnss_hgt_pub_last{0};
hrt_abstime _status_gnss_pos_pub_last{0};
hrt_abstime _status_gnss_vel_pub_last{0};
hrt_abstime _status_gnss_yaw_pub_last{0};
#if defined(CONFIG_EKF2_GNSS_YAW)
hrt_abstime _status_gnss_yaw_pub_last {0};
#endif // CONFIG_EKF2_GNSS_YAW
hrt_abstime _status_mag_pub_last{0};
hrt_abstime _status_mag_heading_pub_last{0};
@@ -375,7 +377,9 @@ private:
uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_gnss_hgt_pub{ORB_ID(estimator_aid_src_gnss_hgt)};
uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)};
uORB::PublicationMulti<estimator_aid_source3d_s> _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)};
uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_gnss_yaw_pub{ORB_ID(estimator_aid_src_gnss_yaw)};
#if defined(CONFIG_EKF2_GNSS_YAW)
uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_gnss_yaw_pub {ORB_ID(estimator_aid_src_gnss_yaw)};
#endif // CONFIG_EKF2_GNSS_YAW
uORB::PublicationMulti<estimator_aid_source1d_s> _estimator_aid_src_mag_heading_pub{ORB_ID(estimator_aid_src_mag_heading)};
uORB::PublicationMulti<estimator_aid_source3d_s> _estimator_aid_src_mag_pub{ORB_ID(estimator_aid_src_mag)};