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

ekf2: advertise wind topic early to make sure ekf2 get the first instance 

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2018-03-14 15:01:20 +01:00 committed by Roman Bapst
parent 5b067df01e
commit d2ebb0c7a2
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
src/modules/ekf2/ekf2_main.cpp
View File

@ -479,6 +479,9 @@ Ekf2::Ekf2():
_bcoef_x(_params->bcoef_x),
_bcoef_y(_params->bcoef_y)
{
// advertise the wind topic early to make sure we get the first instance (before the standalone wind estimator)
wind_estimate_s wind_estimate = {};
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &wind_estimate);
}
int Ekf2::print_status()