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ekf-replay: fix airspeed replay

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If available, the EKF uses airspeed_validated, not airspeed
This commit is contained in:
bresch
2025-01-26 23:05:39 -05:00
committed by Daniel Agar
parent c3ba39f931
commit c76e74338b
5 changed files with 13 additions and 0 deletions
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src/modules/replay/ReplayEkf2.cpp
+6
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@@ -39,6 +39,7 @@
// for ekf2 replay
#include <uORB/topics/airspeed.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/sensor_combined.h>
@@ -91,6 +92,9 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
} else if (sub.orb_meta == ORB_ID(airspeed)) {
_airspeed_msg_id = msg_id;
} else if (sub.orb_meta == ORB_ID(airspeed_validated)) {
_airspeed_validated_msg_id = msg_id;
} else if (sub.orb_meta == ORB_ID(distance_sensor)) {
_distance_sensor_msg_id = msg_id;
@@ -138,6 +142,7 @@ ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifs
};
handle_sensor_publication(ekf2_timestamps.airspeed_timestamp_rel, _airspeed_msg_id);
handle_sensor_publication(ekf2_timestamps.airspeed_validated_timestamp_rel, _airspeed_validated_msg_id);
handle_sensor_publication(ekf2_timestamps.distance_sensor_timestamp_rel, _distance_sensor_msg_id);
handle_sensor_publication(ekf2_timestamps.optical_flow_timestamp_rel, _optical_flow_msg_id);
handle_sensor_publication(ekf2_timestamps.vehicle_air_data_timestamp_rel, _vehicle_air_data_msg_id);
@@ -225,6 +230,7 @@ ReplayEkf2::onExitMainLoop()
PX4_INFO("Topic, Num Published, Num Error (no timestamp match found):");
print_sensor_statistics(_airspeed_msg_id, "airspeed");
print_sensor_statistics(_airspeed_validated_msg_id, "airspeed_validated");
print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor");
print_sensor_statistics(_optical_flow_msg_id, "vehicle_optical_flow");
print_sensor_statistics(_sensor_combined_msg_id, "sensor_combined");