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replay: remove GPS relative timestamps

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson
2020-02-07 08:19:22 +01:00
committed by Beat Küng
parent b399698306
commit a61f1647ad
4 changed files with 2 additions and 14 deletions
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src/modules/replay/ReplayEkf2.cpp
+2 -9
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@@ -115,11 +115,6 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
} else if (sub.orb_meta == ORB_ID(distance_sensor)) {
_distance_sensor_msg_id = msg_id;
} else if (sub.orb_meta == ORB_ID(vehicle_gps_position)) {
if (sub.multi_id == 0) {
_gps_msg_id = msg_id;
}
} else if (sub.orb_meta == ORB_ID(optical_flow)) {
_optical_flow_msg_id = msg_id;
@@ -135,9 +130,9 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
// the main loop should only handle publication of the following topics, the sensor topics are
// handled separately in publishEkf2Topics()
// Note: the GPS is not treated here since not missing data is more important than the accuracy of the timestamp
sub.ignored = sub.orb_meta != ORB_ID(ekf2_timestamps) && sub.orb_meta != ORB_ID(vehicle_status)
&& sub.orb_meta != ORB_ID(vehicle_land_detected) &&
(sub.orb_meta != ORB_ID(vehicle_gps_position) || sub.multi_id == 0);
&& sub.orb_meta != ORB_ID(vehicle_land_detected) && sub.orb_meta != ORB_ID(vehicle_gps_position);
}
bool
@@ -153,7 +148,6 @@ ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifs
handle_sensor_publication(ekf2_timestamps.airspeed_timestamp_rel, _airspeed_msg_id);
handle_sensor_publication(ekf2_timestamps.distance_sensor_timestamp_rel, _distance_sensor_msg_id);
handle_sensor_publication(ekf2_timestamps.gps_timestamp_rel, _gps_msg_id);
handle_sensor_publication(ekf2_timestamps.optical_flow_timestamp_rel, _optical_flow_msg_id);
handle_sensor_publication(ekf2_timestamps.vehicle_air_data_timestamp_rel, _vehicle_air_data_msg_id);
handle_sensor_publication(ekf2_timestamps.vehicle_magnetometer_timestamp_rel, _vehicle_magnetometer_msg_id);
@@ -234,7 +228,6 @@ ReplayEkf2::onExitMainLoop()
print_sensor_statistics(_airspeed_msg_id, "airspeed");
print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor");
print_sensor_statistics(_gps_msg_id, "vehicle_gps_position");
print_sensor_statistics(_optical_flow_msg_id, "optical_flow");
print_sensor_statistics(_sensor_combined_msg_id, "sensor_combined");
print_sensor_statistics(_vehicle_air_data_msg_id, "vehicle_air_data");