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ekf2: fix terrain range finder logging

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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
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src/modules/ekf2/EKF/terrain_estimator.cpp
+1 -1
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@@ -239,7 +239,7 @@ void Ekf::updateHaglRng(estimator_aid_source1d_s &aid_src) const
aid_src.timestamp_sample = _time_delayed_us; // TODO 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.observation_variance = obs_variance;
aid_src.innovation = hagl_innov; aid_src.innovation = hagl_innov;
src/modules/logger/logged_topics.cpp
+1
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@@ -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_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_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_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); add_optional_topic_multi("estimator_aid_src_sideslip", 0, MAX_ESTIMATOR_INSTANCES);
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */ #endif /* CONFIG_ARCH_BOARD_PX4_SITL */