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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/logger/logged_topics.cpp
+23
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@@ -171,6 +171,17 @@ void LoggedTopics::add_default_topics()
add_optional_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_airspeed", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_baro_hgt", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_rng_hgt", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_fake_pos", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_gnss_yaw", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_gnss_vel", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_gnss_pos", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_mag_heading", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_mag", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES);
// log all raw sensors at minimal rate (at least 1 Hz)
add_topic_multi("battery_status", 200, 2);
add_topic_multi("differential_pressure", 1000, 2);
@@ -245,6 +256,18 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_local_position");
add_topic("wind");
add_topic("yaw_estimator_status");
add_optional_topic_multi("estimator_aid_src_airspeed", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_baro_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_rng_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_fake_pos", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_yaw", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_vel", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_pos", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_mag_heading", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_ev_yaw", 0, MAX_ESTIMATOR_INSTANCES);
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */
}