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Move GPS blending from ekf2 to sensors module

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- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
 - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU

Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Jacob Dahl
2020-09-25 23:28:31 -04:00
committed by GitHub
co-authored by Jacob Crabill Jacob Dahl
parent e792c46f20
commit a24488328f
27 changed files with 1147 additions and 861 deletions
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src/drivers/gps/gps.cpp
+3 -2
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@@ -59,6 +59,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/topics/gps_dump.h>
#include <uORB/topics/gps_inject_data.h>
#include <uORB/topics/sensor_gps.h>
#include "devices/src/ashtech.h"
#include "devices/src/emlid_reach.h"
@@ -160,10 +161,10 @@ private:
GPS_Sat_Info *_sat_info{nullptr}; ///< instance of GPS sat info data object
vehicle_gps_position_s _report_gps_pos{}; ///< uORB topic for gps position
sensor_gps_s _report_gps_pos{}; ///< uORB topic for gps position
satellite_info_s *_p_report_sat_info{nullptr}; ///< pointer to uORB topic for satellite info
uORB::PublicationMulti<vehicle_gps_position_s> _report_gps_pos_pub{ORB_ID(vehicle_gps_position)}; ///< uORB pub for gps position
uORB::PublicationMulti<sensor_gps_s> _report_gps_pos_pub{ORB_ID(sensor_gps)}; ///< uORB pub for gps position
uORB::PublicationMulti<satellite_info_s> _report_sat_info_pub{ORB_ID(satellite_info)}; ///< uORB pub for satellite info
float _rate{0.0f}; ///< position update rate