fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-07 19:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

optical flow sensor pipeline overhaul

Browse Source 
- 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
2022-06-17 16:02:09 -04:00
parent 32544452f0
commit d5839e2dd5
49 changed files with 1415 additions and 634 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/replay/ReplayEkf2.cpp
+3 -3
View File
@@ -39,7 +39,6 @@
#include <uORB/topics/airspeed.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -47,6 +46,7 @@
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/vehicle_optical_flow.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_odometry.h>
@@ -91,7 +91,7 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
} else if (sub.orb_meta == ORB_ID(distance_sensor)) {
_distance_sensor_msg_id = msg_id;
} else if (sub.orb_meta == ORB_ID(optical_flow)) {
} else if (sub.orb_meta == ORB_ID(vehicle_optical_flow)) {
_optical_flow_msg_id = msg_id;
} else if (sub.orb_meta == ORB_ID(vehicle_air_data)) {
@@ -204,7 +204,7 @@ ReplayEkf2::onExitMainLoop()
print_sensor_statistics(_airspeed_msg_id, "airspeed");
print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor");
print_sensor_statistics(_optical_flow_msg_id, "optical_flow");
print_sensor_statistics(_optical_flow_msg_id, "vehicle_optical_flow");
print_sensor_statistics(_sensor_combined_msg_id, "sensor_combined");
print_sensor_statistics(_vehicle_air_data_msg_id, "vehicle_air_data");
print_sensor_statistics(_vehicle_magnetometer_msg_id, "vehicle_magnetometer");