Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Replay: support wheel odomotry

This commit is contained in:
Andrew Tridgell 2020-11-07 11:33:40 +11:00
parent e87f98066f
commit afb11cf29b
3 changed files with 13 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Tools/Replay/LR_MsgHandler.cpp
View File

@ -242,6 +242,11 @@ void LR_MsgHandler_ROFH::process_message(uint8_t *msg)
AP::dal().handle_message(MSG_CAST(ROFH,msg), ekf2, ekf3);
}
void LR_MsgHandler_RWOH::process_message(uint8_t *msg)
{
AP::dal().handle_message(MSG_CAST(RWOH,msg), ekf2, ekf3);
}
void LR_MsgHandler_REPH::process_message(uint8_t *msg)
{
AP::dal().handle_message(MSG_CAST(REPH,msg), ekf2, ekf3);

6
Tools/Replay/LR_MsgHandler.h
View File

@ -100,6 +100,12 @@ class LR_MsgHandler_REVH : public LR_MsgHandler_EKF
void process_message(uint8_t *msg) override;
};
class LR_MsgHandler_RWOH : public LR_MsgHandler_EKF
{
using LR_MsgHandler_EKF::LR_MsgHandler_EKF;
void process_message(uint8_t *msg) override;
};
class LR_MsgHandler_RFRN : public LR_MsgHandler
{
public:

2
Tools/Replay/LogReader.cpp
View File

@ -226,6 +226,8 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
msgparser[f.type] = new LR_MsgHandler_REPH(formats[f.type], ekf2, ekf3);
} else if (streq(name, "REVH")) {
msgparser[f.type] = new LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3);
} else if (streq(name, "RWOH")) {
msgparser[f.type] = new LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3);
} else {
// debug(" No parser for (%s)\n", name);
}