fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 19:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added innovation logging to LPE. (#5124)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+2
View File
@@ -28,6 +28,7 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/ekf2_innovations.h>
using namespace matrix;
using namespace control;
@@ -235,6 +236,7 @@ private:
uORB::Publication<vehicle_local_position_s> _pub_lpos;
uORB::Publication<vehicle_global_position_s> _pub_gpos;
uORB::Publication<estimator_status_s> _pub_est_status;
uORB::Publication<ekf2_innovations_s> _pub_innov;
// map projection
struct map_projection_reference_s _map_ref;