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ekf2: publish estimator_aid_src_airspeed

This commit is contained in:
bresch 2022-07-05 11:43:14 +02:00 committed by Daniel Agar
parent 2fd87c47e8
commit af4038aa7e
3 changed files with 8 additions and 0 deletions
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2
src/modules/ekf2/EKF/ekf.h
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@ -347,6 +347,8 @@ public:
const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const auto &aid_src_airspeed() const { return _aid_src_airspeed; }
const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; }
const auto &aid_src_rng_hgt() const { return _aid_src_rng_hgt; }

3
src/modules/ekf2/EKF2.cpp
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@ -638,6 +638,9 @@ void EKF2::Run()
void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
{
// airspeed
PublishAidSourceStatus(_ekf.aid_src_airspeed(), _status_airspeed_pub_last, _estimator_aid_src_airspeed_pub);
// baro height
PublishAidSourceStatus(_ekf.aid_src_baro_hgt(), _status_baro_hgt_pub_last, _estimator_aid_src_baro_hgt_pub);

3
src/modules/ekf2/EKF2.hpp
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@ -254,6 +254,8 @@ private:
hrt_abstime _last_sensor_bias_published{0};
hrt_abstime _last_gps_status_published{0};
hrt_abstime _status_airspeed_pub_last{0};
hrt_abstime _status_baro_hgt_pub_last{0};
hrt_abstime _status_rng_hgt_pub_last{0};
@ -320,6 +322,7 @@ private:
uORB::PublicationMulti<vehicle_optical_flow_vel_s> _estimator_optical_flow_vel_pub{ORB_ID(estimator_optical_flow_vel)};
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_airspeed_pub{ORB_ID(estimator_aid_src_airspeed)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_baro_hgt_pub{ORB_ID(estimator_aid_src_baro_hgt)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_rng_hgt_pub{ORB_ID(estimator_aid_src_rng_hgt)};