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ekf2: publish GNSS, rng and EV height biases

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bresch
2022-08-03 10:33:39 +02:00
committed by Daniel Agar
parent 6833c7e311
commit aba2eac0df
7 changed files with 85 additions and 13 deletions
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src/modules/logger/logged_topics.cpp
+9
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@@ -144,6 +144,9 @@ void LoggedTopics::add_default_topics()
// always add the first instance
add_topic("estimator_baro_bias", 500);
add_topic("estimator_gnss_hgt_bias", 500);
add_topic("estimator_rng_hgt_bias", 500);
add_topic("estimator_ev_hgt_bias", 500);
add_topic("estimator_event_flags", 0);
add_topic("estimator_gps_status", 1000);
add_topic("estimator_innovation_test_ratios", 500);
@@ -158,6 +161,9 @@ void LoggedTopics::add_default_topics()
add_topic("yaw_estimator_status", 1000);
add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_rng_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_ev_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
@@ -241,6 +247,9 @@ void LoggedTopics::add_default_topics()
// EKF replay
add_topic("estimator_baro_bias");
add_topic("estimator_gnss_hgt_bias");
add_topic("estimator_rng_hgt_bias");
add_topic("estimator_ev_hgt_bias");
add_topic("estimator_event_flags");
add_topic("estimator_gps_status");
add_topic("estimator_innovation_test_ratios");