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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/EKF2Selector.cpp
-12
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@@ -586,18 +586,6 @@ void EKF2Selector::Run()
}
}
}
// selected estimator_visual_odometry_aligned -> vehicle_visual_odometry_aligned
if (_instance[_selected_instance].estimator_visual_odometry_aligned_sub.updated()) {
vehicle_odometry_s vehicle_visual_odometry_aligned;
if (_instance[_selected_instance].estimator_visual_odometry_aligned_sub.update(&vehicle_visual_odometry_aligned)) {
if (vehicle_visual_odometry_aligned.timestamp >= _instance[_selected_instance].estimator_status.timestamp_sample) {
vehicle_visual_odometry_aligned.timestamp = hrt_absolute_time();
_vehicle_visual_odometry_aligned_pub.publish(vehicle_visual_odometry_aligned);
}
}
}
}
if (_lockstep_component == -1) {