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ekf2: use estimator_aid_src for all yaw sources (mag, gnss, ev)

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Daniel Agar
2022-07-29 11:20:48 -04:00
parent d5d88cba5b
commit a397c09e59
16 changed files with 334 additions and 155 deletions
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src/modules/ekf2/EKF2.hpp
+13
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@@ -257,9 +257,15 @@ private:
hrt_abstime _status_fake_pos_pub_last{0};
hrt_abstime _status_ev_yaw_pub_last{0};
hrt_abstime _status_gnss_yaw_pub_last{0};
hrt_abstime _status_gnss_vel_pub_last{0};
hrt_abstime _status_gnss_pos_pub_last{0};
hrt_abstime _status_mag_pub_last{0};
hrt_abstime _status_mag_heading_pub_last{0};
float _last_baro_bias_published{};
float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
@@ -324,9 +330,16 @@ private:
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_gnss_yaw_pub{ORB_ID(estimator_aid_src_gnss_yaw)};
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)};
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_mag_heading_pub{ORB_ID(estimator_aid_src_mag_heading)};
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_mag_pub{ORB_ID(estimator_aid_src_mag)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_ev_yaw_pub{ORB_ID(estimator_aid_src_ev_yaw)};
// publications with topic dependent on multi-mode
uORB::PublicationMulti<vehicle_attitude_s> _attitude_pub;
uORB::PublicationMulti<vehicle_local_position_s> _local_position_pub;