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LPE: make compatible with lockstep simulation

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This fixes SITL with lockstep when using LPE and q estimator.

The required changes are:
- Publish ekf2_timestamps because simulator_mavlink expects them.
- Run LPE at 250 Hz instead of 80 Hz in order to keep everything in
  lockstep running at 250 Hz.
This commit is contained in:
Julian Oes
2020-02-26 15:46:58 +01:00
parent 3be8b3d177
commit b53bd2b77f
2 changed files with 26 additions and 0 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+3
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@@ -35,6 +35,7 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/estimator_innovations.h>
#include <uORB/topics/ekf2_timestamps.h>
using namespace matrix;
using namespace control;
@@ -254,6 +255,7 @@ private:
void publishGlobalPos();
void publishOdom();
void publishEstimatorStatus();
void publishEk2fTimestamps();
// attributes
// ----------------------------
@@ -285,6 +287,7 @@ private:
uORB::PublicationData<vehicle_global_position_s> _pub_gpos{ORB_ID(vehicle_global_position)};
uORB::PublicationData<vehicle_odometry_s> _pub_odom{ORB_ID(vehicle_odometry)};
uORB::PublicationData<estimator_status_s> _pub_est_status{ORB_ID(estimator_status)};
uORB::PublicationData<ekf2_timestamps_s> _pub_ekf2_timestamps{ORB_ID(ekf2_timestamps)};
uORB::PublicationData<estimator_innovations_s> _pub_innov{ORB_ID(estimator_innovations)};
uORB::PublicationData<estimator_innovations_s> _pub_innov_var{ORB_ID(estimator_innovation_variances)};