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ECL: Clean velPos logging, deprecate ekf2_innovations msg

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kamilritz
2019-12-05 11:29:29 +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.hpp
+3 -2
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@@ -34,7 +34,7 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/ekf2_innovations.h>
#include <uORB/topics/estimator_innovations.h>
using namespace matrix;
using namespace control;
@@ -285,7 +285,8 @@ 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_innovations_s> _pub_innov{ORB_ID(ekf2_innovations)};
uORB::PublicationData<estimator_innovations_s> _pub_innov{ORB_ID(estimator_innovations)};
uORB::PublicationData<estimator_innovations_s> _pub_innov_var{ORB_ID(estimator_innovation_variances)};
// map projection
struct map_projection_reference_s _map_ref;