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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/modules/logger/logged_topics.cpp
+3 -3
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@@ -95,6 +95,7 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_command");
add_topic("vehicle_control_mode");
add_topic("vehicle_global_position", 200);
add_topic("vehicle_gps_position", 500);
add_topic("vehicle_land_detected");
add_topic("vehicle_local_position", 100);
add_topic("vehicle_local_position_setpoint", 100);
@@ -121,9 +122,9 @@ void LoggedTopics::add_default_topics()
add_topic_multi("optical_flow", 1000, 2);
add_topic_multi("sensor_accel", 1000, 3);
add_topic_multi("sensor_baro", 1000, 3);
add_topic_multi("sensor_gps", 1000, 3);
add_topic_multi("sensor_gyro", 1000, 3);
add_topic_multi("sensor_mag", 1000, 4);
add_topic_multi("vehicle_gps_position", 1000, 2);
add_topic_multi("vehicle_imu", 500, 3);
add_topic_multi("vehicle_imu_status", 1000, 3);
@@ -168,7 +169,6 @@ void LoggedTopics::add_estimator_replay_topics()
{
// for estimator replay (need to be at full rate)
add_topic("ekf2_timestamps");
add_topic("ekf_gps_position");
// current EKF2 subscriptions
add_topic("airspeed");
@@ -176,13 +176,13 @@ void LoggedTopics::add_estimator_replay_topics()
add_topic("sensor_combined");
add_topic("sensor_selection");
add_topic("vehicle_air_data");
add_topic("vehicle_gps_position");
add_topic("vehicle_land_detected");
add_topic("vehicle_magnetometer");
add_topic("vehicle_status");
add_topic("vehicle_visual_odometry");
add_topic("vehicle_visual_odometry_aligned");
add_topic_multi("distance_sensor");
add_topic_multi("vehicle_gps_position", 0, 2);
}
void LoggedTopics::add_thermal_calibration_topics()