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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.hpp
-3
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@@ -86,7 +86,6 @@ private:
estimator_local_position_sub{ORB_ID(estimator_local_position), i},
estimator_global_position_sub{ORB_ID(estimator_global_position), i},
estimator_odometry_sub{ORB_ID(estimator_odometry), i},
estimator_visual_odometry_aligned_sub{ORB_ID(estimator_visual_odometry_aligned), i},
instance(i)
{}
@@ -96,7 +95,6 @@ private:
uORB::Subscription estimator_local_position_sub;
uORB::Subscription estimator_global_position_sub;
uORB::Subscription estimator_odometry_sub;
uORB::Subscription estimator_visual_odometry_aligned_sub;
estimator_status_s estimator_status{};
@@ -187,7 +185,6 @@ private:
uORB::Publication<vehicle_global_position_s> _vehicle_global_position_pub{ORB_ID(vehicle_global_position)};
uORB::Publication<vehicle_local_position_s> _vehicle_local_position_pub{ORB_ID(vehicle_local_position)};
uORB::Publication<vehicle_odometry_s> _vehicle_odometry_pub{ORB_ID(vehicle_odometry)};
uORB::Publication<vehicle_odometry_s> _vehicle_visual_odometry_aligned_pub{ORB_ID(vehicle_visual_odometry_aligned)};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::EKF2_SEL_ERR_RED>) _param_ekf2_sel_err_red,