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init adjustments to ensure used topics are advertised early (primarily for logging)

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- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
This commit is contained in:
Daniel Agar
2022-03-23 16:51:16 -04:00
parent e6ed595651
commit f4c3084c26
22 changed files with 171 additions and 127 deletions
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src/modules/ekf2/EKF2.hpp
+4 -2
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@@ -267,7 +267,9 @@ private:
bool _callback_registered{false};
hrt_abstime _last_status_flag_update{0};
hrt_abstime _last_event_flags_publish{0};
hrt_abstime _last_status_flags_publish{0};
hrt_abstime _last_range_sensor_update{0};
uint32_t _filter_control_status{0};
@@ -282,7 +284,7 @@ private:
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
uORB::PublicationMulti<estimator_baro_bias_s> _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)};
uORB::PublicationMulti<estimator_event_flags_s> _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
uORB::PublicationMultiData<estimator_event_flags_s> _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
uORB::PublicationMulti<estimator_gps_status_s> _estimator_gps_status_pub{ORB_ID(estimator_gps_status)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};