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ECL: Clean velPos logging, deprecate ekf2_innovations msg

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kamilritz
2019-11-11 10:27:57 +01:00
committed by Julian Kent
parent 22e4e85eeb
commit b73c80428e
24 changed files with 298 additions and 138 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+2
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@@ -493,6 +493,8 @@ void BlockLocalPositionEstimator::Run()
publishEstimatorStatus();
_pub_innov.get().timestamp = _timeStamp;
_pub_innov.update();
_pub_innov_var.get().timestamp = _timeStamp;
_pub_innov_var.update();
if ((_estimatorInitialized & EST_XY) && (_map_ref.init_done || _param_lpe_fake_origin.get())) {
publishGlobalPos();