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ekf2: Add optical flow and range finder data to ekf2 replay logging

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Paul Riseborough 2016-03-09 17:08:24 +11:00 committed by Lorenz Meier
parent 686b000503
commit b1f656c4b8
1 changed files with 11 additions and 0 deletions
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11
src/modules/ekf2/ekf2_main.cpp
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@ -683,6 +683,17 @@ void Ekf2::task_main()
replay.vel_d_m_s = gps.vel_d_m_s;
replay.vel_ned_valid = gps.vel_ned_valid;
replay.flow_timestamp = optical_flow.timestamp;
replay.range_to_ground = range_finder.current_distance;
replay.rng_timestamp = range_finder.timestamp;
replay.flow_pixel_integral[0] = optical_flow.pixel_flow_x_integral;
replay.flow_pixel_integral[1] = optical_flow.pixel_flow_y_integral;
replay.flow_gyro_integral[0] = optical_flow.gyro_x_rate_integral;
replay.flow_gyro_integral[1] = optical_flow.gyro_y_rate_integral;
replay.flow_time_integral = optical_flow.integration_timespan;
replay.flow_quality = optical_flow.quality;
if (_replay_pub == nullptr) {
_replay_pub = orb_advertise(ORB_ID(ekf2_replay), &replay);