fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 21:00:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: selector improve status reporting

Browse Source 
- publish estimator_selector_status at minimal rate or immediately on change
 - log all estimator_selector_status updates
This commit is contained in:
Daniel Agar
2021-01-08 11:27:12 -05:00
committed by Lorenz Meier
parent 2fc212e064
commit f73d93ef6c
3 changed files with 89 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/logger/logged_topics.cpp
+1 -1
View File
@@ -114,7 +114,7 @@ void LoggedTopics::add_default_topics()
// EKF multi topics (currently max 9 estimators)
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 4;
add_topic("estimator_selector_status", 200);
add_topic("estimator_selector_status");
add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);