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ekf2: avoid storing message copies

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This commit is contained in:
Daniel Agar
2020-10-29 10:22:57 -04:00
parent 3f9f2c6fdf
commit db5235b074
2 changed files with 184 additions and 179 deletions
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src/modules/ekf2/EKF2.hpp
+21 -20
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@@ -184,11 +184,12 @@ private:
bool _imu_bias_reset_request{false};
// republished aligned external visual odometry
bool new_ev_data_received = false;
vehicle_odometry_s _ev_odom{};
uint32_t _device_id_accel{0};
uint32_t _device_id_baro{0};
uint32_t _device_id_gyro{0};
uint32_t _device_id_mag{0};
bool _new_optical_flow_data_received{false};
Vector3f _last_local_position_for_gpos{};
uORB::Subscription _airdata_sub{ORB_ID(vehicle_air_data)};
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
@@ -216,24 +217,24 @@ private:
vehicle_land_detected_s _vehicle_land_detected{};
vehicle_status_s _vehicle_status{};
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
uORB::PublicationMulti<ekf_gps_drift_s> _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovations_pub{ORB_ID(estimator_innovations)};
uORB::PublicationMulti<estimator_optical_flow_vel_s> _estimator_optical_flow_vel_pub{ORB_ID(estimator_optical_flow_vel)};
uORB::PublicationMulti<estimator_sensor_bias_s> _estimator_sensor_bias_pub{ORB_ID(estimator_sensor_bias)};
uORB::PublicationMulti<estimator_states_s> _estimator_states_pub{ORB_ID(estimator_states)};
uORB::PublicationMultiData<estimator_status_s> _estimator_status_pub{ORB_ID(estimator_status)};
uORB::PublicationMultiData<vehicle_odometry_s> _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
uORB::PublicationMulti<wind_estimate_s> _wind_pub{ORB_ID(wind_estimate)};
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
uORB::PublicationMulti<ekf_gps_drift_s> _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovations_pub{ORB_ID(estimator_innovations)};
uORB::PublicationMulti<estimator_optical_flow_vel_s> _estimator_optical_flow_vel_pub{ORB_ID(estimator_optical_flow_vel)};
uORB::PublicationMulti<estimator_sensor_bias_s> _estimator_sensor_bias_pub{ORB_ID(estimator_sensor_bias)};
uORB::PublicationMulti<estimator_states_s> _estimator_states_pub{ORB_ID(estimator_states)};
uORB::PublicationMulti<estimator_status_s> _estimator_status_pub{ORB_ID(estimator_status)};
uORB::PublicationMulti<vehicle_odometry_s> _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
uORB::PublicationMulti<wind_estimate_s> _wind_pub{ORB_ID(wind_estimate)};
// publications with topic dependent on multi-mode
uORB::PublicationMulti<vehicle_attitude_s> _attitude_pub;
uORB::PublicationMultiData<vehicle_local_position_s> _local_position_pub;
uORB::PublicationMultiData<vehicle_global_position_s> _global_position_pub;
uORB::PublicationMulti<vehicle_odometry_s> _odometry_pub;
uORB::PublicationMulti<vehicle_attitude_s> _attitude_pub;
uORB::PublicationMulti<vehicle_local_position_s> _local_position_pub;
uORB::PublicationMulti<vehicle_global_position_s> _global_position_pub;
uORB::PublicationMulti<vehicle_odometry_s> _odometry_pub;
Ekf _ekf;