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rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned

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- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
 - helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
This commit is contained in:
Daniel Agar
2020-10-27 12:33:39 -04:00
committed by GitHub
parent d5e68bc05a
commit df2f26ebdf
7 changed files with 6 additions and 23 deletions
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src/modules/ekf2/EKF2.cpp
+2 -4
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@@ -54,8 +54,6 @@ EKF2::EKF2(int instance, const px4::wq_config_t &config, int imu, int mag, bool
_local_position_pub(_multi_mode ? ORB_ID(estimator_local_position) : ORB_ID(vehicle_local_position)),
_global_position_pub(_multi_mode ? ORB_ID(estimator_global_position) : ORB_ID(vehicle_global_position)),
_odometry_pub(_multi_mode ? ORB_ID(estimator_odometry) : ORB_ID(vehicle_odometry)),
_visual_odometry_aligned_pub(_multi_mode ? ORB_ID(estimator_visual_odometry_aligned) :
ORB_ID(vehicle_visual_odometry_aligned)),
_params(_ekf.getParamHandle()),
_param_ekf2_min_obs_dt(_params->sensor_interval_min_ms),
_param_ekf2_mag_delay(_params->mag_delay_ms),
@@ -171,7 +169,6 @@ EKF2::EKF2(int instance, const px4::wq_config_t &config, int imu, int mag, bool
_local_position_pub.advertise();
_global_position_pub.advertise();
_odometry_pub.advertise();
_visual_odometry_aligned_pub.advertise();
_ekf2_timestamps_pub.advertise();
_ekf_gps_drift_pub.advertise();
@@ -182,6 +179,7 @@ EKF2::EKF2(int instance, const px4::wq_config_t &config, int imu, int mag, bool
_estimator_sensor_bias_pub.advertise();
_estimator_states_pub.advertise();
_estimator_status_pub.advertise();
_estimator_visual_odometry_aligned_pub.advertised();
_wind_pub.advertise();
_yaw_est_pub.advertise();
@@ -851,7 +849,7 @@ void EKF2::Run()
ev_quat_aligned.copyTo(aligned_ev_odom.q);
quat_ev2ekf.copyTo(aligned_ev_odom.q_offset);
_visual_odometry_aligned_pub.publish(aligned_ev_odom);
_estimator_visual_odometry_aligned_pub.publish(aligned_ev_odom);
}
if (_ekf.global_position_is_valid() && !_preflt_checker.hasFailed()) {