commander: periodically republish home position if valid

boards/mro/ctrl-zero-h7/init/rc.board_sensors

@@ -5,7 +5,7 @@
 board_adc start
 
 # Internal ICM-20602
-icm20602 -s -b 1 -R 8 start
+#icm20602 -s -b 1 -R 8 start
 
 # Internal SPI bus BMI088 accel & gyro
 bmi088 -A -s -b 5 -R 8 start

src/modules/commander/HomePosition.cpp

@@ -343,4 +343,10 @@ void HomePosition::update(bool set_automatically, bool check_if_changed)
 			setHomePosition();
 		}
 	}
+
+	// periodically republish home position if valid
+	if (home.valid_alt && (hrt_elapsed_time(&home.timestamp) > 5_s)) {
+		_home_position_pub.get().timestamp = hrt_absolute_time();
+		_home_position_pub.update();
+	}
 }

src/modules/logger/logged_topics.cpp

@@ -184,23 +184,23 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
 	add_optional_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
 
-	// add_optional_topic_multi("estimator_aid_src_airspeed", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_baro_hgt", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_ev_pos", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_ev_vel", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_gravity", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_rng_hgt", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_fake_hgt", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_fake_pos", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_gnss_yaw", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_gnss_vel", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_gnss_pos", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_mag_heading", 100, MAX_ESTIMATOR_INSTANCES);
-	// add_optional_topic_multi("estimator_aid_src_mag", 100, MAX_ESTIMATOR_INSTANCES);
-	// 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_airspeed", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_baro_hgt", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_ev_pos", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_ev_vel", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_gravity", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_rng_hgt", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_fake_hgt", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_fake_pos", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_gnss_yaw", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_gnss_vel", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_gnss_pos", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_mag_heading", 100, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_aid_src_mag", 100, MAX_ESTIMATOR_INSTANCES);
+	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);
 
 	// log all raw sensors at minimal rate (at least 1 Hz)
 	add_topic_multi("battery_status", 200, 2);

src/modules/uxrce_dds_client/dds_topics.yaml

@@ -8,9 +8,48 @@ publications:
   - topic: /fmu/out/collision_constraints
     type: px4_msgs::msg::CollisionConstraints
 
+  - topic: /fmu/out/estimator_aid_src_baro_hgt
+    type: px4_msgs::msg::EstimatorAidSource1d
+
+  - topic: /fmu/out/estimator_aid_src_ev_hgt
+    type: px4_msgs::msg::EstimatorAidSource1d
+
+  - topic: /fmu/out/estimator_aid_src_gnss_hgt
+    type: px4_msgs::msg::EstimatorAidSource1d
+
+  - topic: /fmu/out/estimator_aid_src_mag_heading
+    type: px4_msgs::msg::EstimatorAidSource1d
+
+  - topic: /fmu/out/estimator_aid_src_ev_yaw
+    type: px4_msgs::msg::EstimatorAidSource1d
+
+  - topic: /fmu/out/estimator_aid_src_ev_pos
+    type: px4_msgs::msg::EstimatorAidSource2d
+
+  - topic: /fmu/out/estimator_aid_src_gnss_pos
+    type: px4_msgs::msg::EstimatorAidSource2d
+
+  - topic: /fmu/out/estimator_aid_src_gnss_vel
+    type: px4_msgs::msg::EstimatorAidSource3d
+
+  - topic: /fmu/out/estimator_aid_src_mag
+    type: px4_msgs::msg::EstimatorAidSource3d
+
+  - topic: /fmu/out/estimator_gps_status
+    type: px4_msgs::msg::EstimatorGpsStatus
+
+  - topic: /fmu/out/estimator_innovations
+    type: px4_msgs::msg::EstimatorInnovations
+
+  - topic: /fmu/out/estimator_status_flags
+    type: px4_msgs::msg::EstimatorStatusFlags
+
   - topic: /fmu/out/failsafe_flags
     type: px4_msgs::msg::FailsafeFlags
 
+  - topic: /fmu/out/home_position
+    type: px4_msgs::msg::HomePosition
+
   - topic: /fmu/out/position_setpoint_triplet
     type: px4_msgs::msg::PositionSetpointTriplet