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ekf2: verify parameter configuration for height sources

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bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent 8dd5d0d1a3
commit a2a29ba0dd
3 changed files with 70 additions and 2 deletions
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src/modules/ekf2/EKF2.hpp
+5
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@@ -52,6 +52,7 @@
#include <drivers/drv_hrt.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <lib/systemlib/mavlink_log.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
@@ -134,6 +135,8 @@ private:
void Run() override;
void VerifyParams();
void PublishAidSourceStatus(const hrt_abstime &timestamp);
void PublishAttitude(const hrt_abstime &timestamp);
void PublishBaroBias(const hrt_abstime &timestamp);
@@ -281,6 +284,8 @@ private:
float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
hrt_abstime _airspeed_validated_timestamp_last{0};
orb_advert_t _mavlink_log_pub{nullptr};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};