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ekf2: fix optical_flow_vel publication

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We should otherwise call this publication before the aid_src publisher
that sets the timestamp. Having it separate avoids this ordering
constraint.
This commit is contained in:
bresch
2023-10-25 15:04:56 +02:00
committed by Daniel Agar
parent f68f88b97c
commit eed2870fd8
2 changed files with 4 additions and 1 deletions
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src/modules/ekf2/EKF2.cpp
+3 -1
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@@ -2184,7 +2184,7 @@ void EKF2::PublishOpticalFlowVel(const hrt_abstime &timestamp)
{
const hrt_abstime timestamp_sample = _ekf.aid_src_optical_flow().timestamp_sample;
if ((timestamp_sample != 0) && (timestamp_sample > _status_optical_flow_pub_last)) {
if ((timestamp_sample != 0) && (timestamp_sample > _optical_flow_vel_pub_last)) {
vehicle_optical_flow_vel_s flow_vel{};
flow_vel.timestamp_sample = _ekf.aid_src_optical_flow().timestamp_sample;
@@ -2205,6 +2205,8 @@ void EKF2::PublishOpticalFlowVel(const hrt_abstime &timestamp)
flow_vel.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_estimator_optical_flow_vel_pub.publish(flow_vel);
_optical_flow_vel_pub_last = timestamp_sample;
}
}
#endif // CONFIG_EKF2_OPTICAL_FLOW