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ekf2: auxiliary position fusion

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Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
bresch
2023-12-01 11:50:22 +01:00
committed by Mathieu Bresciani
co-authored by Daniel Agar
parent aaefc36cad
commit fe7988672f
22 changed files with 379 additions and 8 deletions
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src/modules/logger/logged_topics.cpp
+3
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@@ -203,6 +203,7 @@ void LoggedTopics::add_default_topics()
// add_optional_topic_multi("estimator_aid_src_optical_flow", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_terrain_optical_flow", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES);
//add_optional_topic_multi("estimator_aid_src_aux_global_position", 100, MAX_ESTIMATOR_INSTANCES);
// log all raw sensors at minimal rate (at least 1 Hz)
add_topic_multi("battery_status", 200, 2);
@@ -220,6 +221,7 @@ void LoggedTopics::add_default_topics()
add_topic_multi("vehicle_imu_status", 1000, 4);
add_optional_topic_multi("vehicle_magnetometer", 500, 4);
add_topic("vehicle_optical_flow", 500);
add_topic("aux_global_position", 500);
//add_optional_topic("vehicle_optical_flow_vel", 100);
add_optional_topic("pps_capture");
@@ -342,6 +344,7 @@ void LoggedTopics::add_estimator_replay_topics()
add_topic("vehicle_magnetometer");
add_topic("vehicle_status");
add_topic("vehicle_visual_odometry");
add_topic("aux_global_position");
add_topic_multi("distance_sensor");
}