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ekf2: estimator aid source status (baro height)

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Daniel Agar
2022-05-22 13:58:55 -04:00
parent 4dbe6f0a1c
commit 1e25aee6fa
13 changed files with 218 additions and 156 deletions
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src/modules/ekf2/EKF2.cpp
+6 -2
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@@ -636,12 +636,16 @@ void EKF2::Run()
void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
{
// baro height
PublishAidSourceStatus(_ekf.aid_src_baro_hgt(), _status_baro_hgt_pub_last, _estimator_aid_src_baro_hgt_pub);
// fake position
PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
// GNSS velocity & position
PublishAidSourceStatus(_ekf.aid_src_gnss_vel(), _status_gnss_vel_pub_last, _estimator_aid_src_gnss_vel_pub);
PublishAidSourceStatus(_ekf.aid_src_gnss_pos(), _status_gnss_pos_pub_last, _estimator_aid_src_gnss_pos_pub);
// fake position
PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
}
void EKF2::PublishAttitude(const hrt_abstime &timestamp)