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ekf2-agp: ensure logging of AGP aid_src topic

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bresch 2024-01-19 14:25:25 +01:00 committed by Daniel Agar
parent 4268759d4a
commit 5d9081b0dd
2 changed files with 6 additions and 2 deletions
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6
src/modules/ekf2/EKF/aux_global_position.hpp
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@ -60,7 +60,11 @@ class Ekf;
class AuxGlobalPosition : public ModuleParams class AuxGlobalPosition : public ModuleParams
{ {
public: public:
AuxGlobalPosition() : ModuleParams(nullptr) {} AuxGlobalPosition() : ModuleParams(nullptr)
{
_estimator_aid_src_aux_global_position_pub.advertise();
}
~AuxGlobalPosition() = default; ~AuxGlobalPosition() = default;
void update(Ekf &ekf, const estimator::imuSample &imu_delayed); void update(Ekf &ekf, const estimator::imuSample &imu_delayed);

2
src/modules/logger/logged_topics.cpp
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@ -205,7 +205,7 @@ 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_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_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_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES);
//add_optional_topic_multi("estimator_aid_src_aux_global_position", 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) // log all raw sensors at minimal rate (at least 1 Hz)
add_topic_multi("battery_status", 200, 2); add_topic_multi("battery_status", 200, 2);