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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/sih/sih.hpp
+3 -3
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@@ -50,10 +50,10 @@
#include <uORB/Subscription.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/vehicle_angular_velocity.h> // to publish groundtruth
#include <uORB/topics/vehicle_attitude.h> // to publish groundtruth
#include <uORB/topics/vehicle_global_position.h> // to publish groundtruth
#include <uORB/topics/vehicle_gps_position.h>
extern "C" __EXPORT int sih_main(int argc, char *argv[]);
@@ -104,8 +104,8 @@ private:
PX4Barometer _px4_baro{6620172}; // 6620172: DRV_BARO_DEVTYPE_BAROSIM, BUS: 1, ADDR: 4, TYPE: SIMULATION
// to publish the gps position
vehicle_gps_position_s _vehicle_gps_pos{};
uORB::Publication<vehicle_gps_position_s> _vehicle_gps_pos_pub{ORB_ID(vehicle_gps_position)};
sensor_gps_s _sensor_gps{};
uORB::Publication<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
// angular velocity groundtruth
vehicle_angular_velocity_s _vehicle_angular_velocity_gt{};