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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/sensors/voted_sensors_update.cpp
+4 -9
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@@ -54,22 +54,17 @@ VotedSensorsUpdate::VotedSensorsUpdate(bool hil_enabled,
_vehicle_imu_sub(vehicle_imu_sub),
_hil_enabled(hil_enabled)
{
_sensor_selection_pub.advertise();
_sensors_status_imu_pub.advertise();
if (_hil_enabled) { // HIL has less accurate timing so increase the timeouts a bit
_gyro.voter.set_timeout(500000);
_accel.voter.set_timeout(500000);
}
}
int VotedSensorsUpdate::init(sensor_combined_s &raw)
{
raw.accelerometer_timestamp_relative = sensor_combined_s::RELATIVE_TIMESTAMP_INVALID;
raw.timestamp = 0;
initializeSensors();
_selection_changed = true;
return 0;
parametersUpdate();
}
void VotedSensorsUpdate::initializeSensors()