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EKF2: move vehicle_odometry publish to method

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Daniel Agar
2020-09-28 18:34:49 -04:00
committed by GitHub
parent faccb0d948
commit f1feaf45d3
2 changed files with 68 additions and 61 deletions
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src/modules/ekf2/EKF2.hpp
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@@ -122,6 +122,7 @@ private:
bool update_mag_decl(Param &mag_decl_param);
void publish_attitude(const hrt_abstime &timestamp);
void publish_odometry(const hrt_abstime &timestamp, const imuSample &imu, const vehicle_local_position_s &lpos);
void publish_wind_estimate(const hrt_abstime &timestamp);
void publish_yaw_estimator_status(const hrt_abstime &timestamp);