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opt flow: fix msg naming 

optical_flow got replaced by sensor_optical_flow and vehicle_optical_flow
This commit is contained in:
bresch 2023-09-11 11:47:49 +02:00 committed by Daniel Agar
parent f2bb548b27
commit 78eb0cdb72
2 changed files with 7 additions and 7 deletions
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12
src/modules/ekf2/test/sensor_simulator/convertULogToSensorData.py
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@ -22,14 +22,14 @@ def getVioData(ulog: ULog) -> pd.DataFrame:
def getOpticalFlowData(ulog: ULog) -> pd.DataFrame: def getOpticalFlowData(ulog: ULog) -> pd.DataFrame:
optical_flow = ulog.get_dataset("optical_flow").data optical_flow = ulog.get_dataset("vehicle_optical_flow").data
flow = pd.DataFrame({'timestamp': optical_flow['timestamp'], flow = pd.DataFrame({'timestamp': optical_flow['timestamp'],
'sensor' : 'flow', 'sensor' : 'flow',
'pixel_flow_x_integral': optical_flow["pixel_flow_x_integral"], 'pixel_flow_x': optical_flow["pixel_flow[0]"],
'pixel_flow_y_integral': optical_flow["pixel_flow_y_integral"], 'pixel_flow_y': optical_flow["pixel_flow[1]"],
'gyro_x_rate_integral': optical_flow["gyro_x_rate_integral"], 'delta_angle_x': optical_flow["delta_angle[0]"],
'gyro_y_rate_integral': optical_flow["gyro_y_rate_integral"], 'delta_angle_y': optical_flow["delta_angle[1]"],
'gyro_z_rate_integral': optical_flow["gyro_z_rate_integral"], 'delta_angle_z': optical_flow["delta_angle[2]"],
'quality': optical_flow["quality"] 'quality': optical_flow["quality"]
}) })
return flow return flow

2
src/modules/logger/logged_topics.cpp
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@ -330,7 +330,7 @@ void LoggedTopics::add_estimator_replay_topics()
// current EKF2 subscriptions // current EKF2 subscriptions
add_topic("airspeed"); add_topic("airspeed");
add_topic("optical_flow"); add_topic("vehicle_optical_flow");
add_topic("sensor_combined"); add_topic("sensor_combined");
add_topic("sensor_selection"); add_topic("sensor_selection");
add_topic("vehicle_air_data"); add_topic("vehicle_air_data");