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Added innovation logging to LPE. (#5124)

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This commit is contained in:
James Goppert
2016-07-22 19:19:30 -04:00
committed by GitHub
parent 0730e681bc
commit a4ef364f80
7 changed files with 28 additions and 8 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+2
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@@ -50,6 +50,7 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
_pub_lpos(ORB_ID(vehicle_local_position), -1, &getPublications()),
_pub_gpos(ORB_ID(vehicle_global_position), -1, &getPublications()),
_pub_est_status(ORB_ID(estimator_status), -1, &getPublications()),
_pub_innov(ORB_ID(ekf2_innovations), -1, &getPublications()),
// map projection
_map_ref(),
@@ -479,6 +480,7 @@ void BlockLocalPositionEstimator::update()
// update all publications if possible
publishLocalPos();
publishEstimatorStatus();
_pub_innov.update();
if (_validXY) {
publishGlobalPos();