dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ekf2: fix terrain range finder logging

This commit is contained in:
bresch 2023-11-16 15:29:36 +01:00 committed by Daniel Agar
parent 1c3a1183c8
commit 0f3378e194
2 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/ekf2/EKF/terrain_estimator.cpp
View File

@ -239,7 +239,7 @@ void Ekf::updateHaglRng(estimator_aid_source1d_s &aid_src) const
aid_src.timestamp_sample = _time_delayed_us; // TODO
aid_src.observation = pred_hagl;
aid_src.observation = meas_hagl;
aid_src.observation_variance = obs_variance;
aid_src.innovation = hagl_innov;

1
src/modules/logger/logged_topics.cpp
View File

@ -291,6 +291,7 @@ void LoggedTopics::add_default_topics()
add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_terrain_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_terrain_range_finder", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_sideslip", 0, MAX_ESTIMATOR_INSTANCES);
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */