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optical flow sensor pipeline overhaul

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- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
This commit is contained in:
Daniel Agar
2022-06-20 20:56:56 -04:00
co-authored by alexklimaj
parent 32544452f0
commit d5839e2dd5
49 changed files with 1415 additions and 634 deletions
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src/modules/logger/logged_topics.cpp
+4 -1
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@@ -174,7 +174,6 @@ void LoggedTopics::add_default_topics()
add_topic_multi("battery_status", 200, 2);
add_topic_multi("differential_pressure", 1000, 2);
add_topic_multi("distance_sensor", 1000, 2);
add_topic_multi("optical_flow", 1000, 1);
add_optional_topic_multi("sensor_accel", 1000, 4);
add_optional_topic_multi("sensor_baro", 1000, 4);
add_topic_multi("sensor_gps", 1000, 2);
@@ -182,9 +181,13 @@ void LoggedTopics::add_default_topics()
add_optional_topic("pps_capture", 1000);
add_optional_topic_multi("sensor_gyro", 1000, 4);
add_optional_topic_multi("sensor_mag", 1000, 4);
add_optional_topic_multi("sensor_optical_flow", 1000, 2);
add_topic_multi("vehicle_imu", 500, 4);
add_topic_multi("vehicle_imu_status", 1000, 4);
add_optional_topic_multi("vehicle_magnetometer", 500, 4);
add_optional_topic("vehicle_optical_flow", 500);
//add_optional_topic("vehicle_optical_flow_vel", 100);
// SYS_CTRL_ALLOC: additional dynamic control allocation logging when enabled
int32_t sys_ctrl_alloc = 0;