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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/simulator/simulator.h
+2 -2
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@@ -65,10 +65,10 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/vehicle_angular_velocity.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_odometry.h>
#include <uORB/topics/vehicle_status.h>
@@ -231,7 +231,7 @@ private:
// HIL GPS
static constexpr int MAX_GPS = 3;
uORB::PublicationMulti<vehicle_gps_position_s> *_vehicle_gps_position_pubs[MAX_GPS] {};
uORB::PublicationMulti<sensor_gps_s> *_sensor_gps_pubs[MAX_GPS] {};
uint8_t _gps_ids[MAX_GPS] {};
std::default_random_engine _gen{};