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ekf2: verbose logging control (new EKF2_LOG_VERBOSE)

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- new parameter EKF2_LOG_VERBOSE to enable (currently enabled by default)
 - force advertise topics immediately (based on EKF2_LOG_VERBOSE and per aid source configuration)
 - logger optionally log all estimator topics at minimal rate
This commit is contained in:
Daniel Agar
2024-06-27 01:10:57 -04:00
committed by GitHub
parent 8070c70f2c
commit 30b854da35
4 changed files with 172 additions and 179 deletions
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src/modules/ekf2/EKF2.cpp
+133 -90
View File
@@ -213,18 +213,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_abl_tau(_params->acc_bias_learn_tc), _param_ekf2_abl_tau(_params->acc_bias_learn_tc),
_param_ekf2_gyr_b_lim(_params->gyro_bias_lim) _param_ekf2_gyr_b_lim(_params->gyro_bias_lim)
{ {
// advertise expected minimal topic set immediately to ensure logging AdvertiseTopics();
_attitude_pub.advertise();
_local_position_pub.advertise();
_estimator_event_flags_pub.advertise();
_estimator_innovation_test_ratios_pub.advertise();
_estimator_innovation_variances_pub.advertise();
_estimator_innovations_pub.advertise();
_estimator_sensor_bias_pub.advertise();
_estimator_states_pub.advertise();
_estimator_status_flags_pub.advertise();
_estimator_status_pub.advertise();
} }
EKF2::~EKF2() EKF2::~EKF2()
@@ -233,120 +222,164 @@ EKF2::~EKF2()
perf_free(_msg_missed_imu_perf); perf_free(_msg_missed_imu_perf);
} }
#if defined(CONFIG_EKF2_MULTI_INSTANCE) void EKF2::AdvertiseTopics()
bool EKF2::multi_init(int imu, int mag)
{ {
// advertise all topics to ensure consistent uORB instance numbering // advertise expected minimal topic set immediately for logging
_attitude_pub.advertise();
_local_position_pub.advertise();
_estimator_event_flags_pub.advertise(); _estimator_event_flags_pub.advertise();
_estimator_innovation_test_ratios_pub.advertise();
_estimator_innovation_variances_pub.advertise();
_estimator_innovations_pub.advertise();
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
_estimator_optical_flow_vel_pub.advertise();
#endif // CONFIG_EKF2_OPTICAL_FLOW
_estimator_sensor_bias_pub.advertise(); _estimator_sensor_bias_pub.advertise();
_estimator_states_pub.advertise();
_estimator_status_flags_pub.advertise();
_estimator_status_pub.advertise(); _estimator_status_pub.advertise();
_estimator_status_flags_pub.advertise();
if (_multi_mode) {
// only force advertise these in multi mode to ensure consistent uORB instance numbering
_global_position_pub.advertise();
_odometry_pub.advertise();
#if defined(CONFIG_EKF2_WIND)
_wind_pub.advertise();
#endif // CONFIG_EKF2_WIND
}
#if defined(CONFIG_EKF2_GNSS) #if defined(CONFIG_EKF2_GNSS)
_yaw_est_pub.advertise();
if (_param_ekf2_gps_ctrl.get()) {
_estimator_gps_status_pub.advertise();
_yaw_est_pub.advertise();
}
#endif // CONFIG_EKF2_GNSS #endif // CONFIG_EKF2_GNSS
// verbose logging
if (_param_ekf2_log_verbose.get()) {
_estimator_innovation_test_ratios_pub.advertise();
_estimator_innovation_variances_pub.advertise();
_estimator_innovations_pub.advertise();
_estimator_states_pub.advertise();
#if defined(CONFIG_EKF2_AIRSPEED)
if (_param_ekf2_arsp_thr.get() > 0.f) {
_estimator_aid_src_airspeed_pub.advertise();
}
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_BAROMETER) #if defined(CONFIG_EKF2_BAROMETER)
// baro advertise if (_param_ekf2_baro_ctrl.get()) {
if (_param_ekf2_baro_ctrl.get()) { _estimator_aid_src_baro_hgt_pub.advertise();
_estimator_aid_src_baro_hgt_pub.advertise(); _estimator_baro_bias_pub.advertise();
_estimator_baro_bias_pub.advertise(); }
}
#endif // CONFIG_EKF2_BAROMETER #endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_DRAG_FUSION)
if (_param_ekf2_drag_ctrl.get()) {
_estimator_aid_src_drag_pub.advertise();
}
#endif // CONFIG_EKF2_DRAG_FUSION
#if defined(CONFIG_EKF2_EXTERNAL_VISION) #if defined(CONFIG_EKF2_EXTERNAL_VISION)
// EV advertise if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::VPOS)) {
if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::VPOS)) { _estimator_aid_src_ev_hgt_pub.advertise();
_estimator_aid_src_ev_hgt_pub.advertise(); _estimator_ev_pos_bias_pub.advertise();
_estimator_ev_pos_bias_pub.advertise(); }
}
if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::HPOS)) { if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::HPOS)) {
_estimator_aid_src_ev_pos_pub.advertise(); _estimator_aid_src_ev_pos_pub.advertise();
_estimator_ev_pos_bias_pub.advertise(); _estimator_ev_pos_bias_pub.advertise();
} }
if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::VEL)) { if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::VEL)) {
_estimator_aid_src_ev_vel_pub.advertise(); _estimator_aid_src_ev_vel_pub.advertise();
} }
if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::YAW)) { if (_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::YAW)) {
_estimator_aid_src_ev_yaw_pub.advertise(); _estimator_aid_src_ev_yaw_pub.advertise();
} }
#endif // CONFIG_EKF2_EXTERNAL_VISION #endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_GNSS) #if defined(CONFIG_EKF2_GNSS)
// GNSS advertise if (_param_ekf2_gps_ctrl.get()) {
if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::VPOS)) { if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::VPOS)) {
_estimator_aid_src_gnss_hgt_pub.advertise(); _estimator_aid_src_gnss_hgt_pub.advertise();
_estimator_gnss_hgt_bias_pub.advertise(); _estimator_gnss_hgt_bias_pub.advertise();
} }
if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::HPOS)) { if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::HPOS)) {
_estimator_aid_src_gnss_pos_pub.advertise(); _estimator_aid_src_gnss_pos_pub.advertise();
_estimator_gps_status_pub.advertise(); }
}
if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::VEL)) { if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::VEL)) {
_estimator_aid_src_gnss_vel_pub.advertise(); _estimator_aid_src_gnss_vel_pub.advertise();
} }
# if defined(CONFIG_EKF2_GNSS_YAW) # if defined(CONFIG_EKF2_GNSS_YAW)
if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::YAW)) { if (_param_ekf2_gps_ctrl.get() & static_cast<int32_t>(GnssCtrl::YAW)) {
_estimator_aid_src_gnss_yaw_pub.advertise(); _estimator_aid_src_gnss_yaw_pub.advertise();
} }
# endif // CONFIG_EKF2_GNSS_YAW # endif // CONFIG_EKF2_GNSS_YAW
}
#endif // CONFIG_EKF2_GNSS #endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_GRAVITY_FUSION) #if defined(CONFIG_EKF2_GRAVITY_FUSION)
if (_param_ekf2_imu_ctrl.get() & static_cast<int32_t>(ImuCtrl::GravityVector)) { if (_param_ekf2_imu_ctrl.get() & static_cast<int32_t>(ImuCtrl::GravityVector)) {
_estimator_aid_src_gravity_pub.advertise(); _estimator_aid_src_gravity_pub.advertise();
} }
#endif // CONFIG_EKF2_GRAVITY_FUSION #endif // CONFIG_EKF2_GRAVITY_FUSION
#if defined(CONFIG_EKF2_RANGE_FINDER)
// RNG advertise
if (_param_ekf2_rng_ctrl.get()) {
_estimator_aid_src_rng_hgt_pub.advertise();
}
#endif // CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_MAGNETOMETER) #if defined(CONFIG_EKF2_MAGNETOMETER)
// mag advertise if (_param_ekf2_mag_type.get() != MagFuseType::NONE) {
if (_param_ekf2_mag_type.get() != MagFuseType::NONE) { _estimator_aid_src_mag_pub.advertise();
_estimator_aid_src_mag_pub.advertise(); }
}
#endif // CONFIG_EKF2_MAGNETOMETER #endif // CONFIG_EKF2_MAGNETOMETER
_attitude_pub.advertise(); #if defined(CONFIG_EKF2_OPTICAL_FLOW)
_local_position_pub.advertise();
_global_position_pub.advertise();
_odometry_pub.advertise();
#if defined(CONFIG_EKF2_WIND) if (_param_ekf2_of_ctrl.get()) {
_wind_pub.advertise(); _estimator_optical_flow_vel_pub.advertise();
#endif // CONFIG_EKF2_WIND _estimator_aid_src_optical_flow_pub.advertise();
}
#endif // CONFIG_EKF2_OPTICAL_FLOW
#if defined(CONFIG_EKF2_RANGE_FINDER)
// RNG advertise
if (_param_ekf2_rng_ctrl.get()) {
_estimator_aid_src_rng_hgt_pub.advertise();
}
#endif // CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_SIDESLIP)
if (_param_ekf2_fuse_beta.get()) {
_estimator_aid_src_sideslip_pub.advertise();
}
#endif // CONFIG_EKF2_SIDESLIP
} // end verbose logging
}
#if defined(CONFIG_EKF2_MULTI_INSTANCE)
bool EKF2::multi_init(int imu, int mag)
{
bool changed_instance = _vehicle_imu_sub.ChangeInstance(imu); bool changed_instance = _vehicle_imu_sub.ChangeInstance(imu);
#if defined(CONFIG_EKF2_MAGNETOMETER) #if defined(CONFIG_EKF2_MAGNETOMETER)
@@ -415,6 +448,9 @@ void EKF2::Run()
VerifyParams(); VerifyParams();
// force advertise topics immediately for logging (EKF2_LOG_VERBOSE, per aid source control)
AdvertiseTopics();
#if defined(CONFIG_EKF2_GNSS) #if defined(CONFIG_EKF2_GNSS)
_ekf.set_min_required_gps_health_time(_param_ekf2_req_gps_h.get() * 1_s); _ekf.set_min_required_gps_health_time(_param_ekf2_req_gps_h.get() * 1_s);
#endif // CONFIG_EKF2_GNSS #endif // CONFIG_EKF2_GNSS
@@ -714,24 +750,31 @@ void EKF2::Run()
// publish status/logging messages // publish status/logging messages
PublishEventFlags(now); PublishEventFlags(now);
PublishInnovations(now);
PublishInnovationTestRatios(now);
PublishInnovationVariances(now);
PublishStates(now);
PublishStatus(now); PublishStatus(now);
PublishStatusFlags(now); PublishStatusFlags(now);
PublishAidSourceStatus(now);
if (_param_ekf2_log_verbose.get()) {
PublishAidSourceStatus(now);
PublishInnovations(now);
PublishInnovationTestRatios(now);
PublishInnovationVariances(now);
PublishStates(now);
#if defined(CONFIG_EKF2_BAROMETER) #if defined(CONFIG_EKF2_BAROMETER)
PublishBaroBias(now); PublishBaroBias(now);
#endif // CONFIG_EKF2_BAROMETER #endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_EXTERNAL_VISION) #if defined(CONFIG_EKF2_EXTERNAL_VISION)
PublishEvPosBias(now); PublishEvPosBias(now);
#endif // CONFIG_EKF2_EXTERNAL_VISION #endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_GNSS) #if defined(CONFIG_EKF2_GNSS)
PublishGnssHgtBias(now); PublishGnssHgtBias(now);
#endif // CONFIG_EKF2_GNSS
}
#if defined(CONFIG_EKF2_GNSS)
PublishGpsStatus(now); PublishGpsStatus(now);
PublishYawEstimatorStatus(now); PublishYawEstimatorStatus(now);
#endif // CONFIG_EKF2_GNSS #endif // CONFIG_EKF2_GNSS
src/modules/ekf2/EKF2.hpp
+2
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@@ -162,6 +162,7 @@ private:
void Run() override; void Run() override;
void AdvertiseTopics();
void VerifyParams(); void VerifyParams();
void PublishAidSourceStatus(const hrt_abstime &timestamp); void PublishAidSourceStatus(const hrt_abstime &timestamp);
@@ -482,6 +483,7 @@ private:
parameters *_params; ///< pointer to ekf parameter struct (located in _ekf class instance) parameters *_params; ///< pointer to ekf parameter struct (located in _ekf class instance)
DEFINE_PARAMETERS( DEFINE_PARAMETERS(
(ParamBool<px4::params::EKF2_LOG_VERBOSE>) _param_ekf2_log_verbose,
(ParamExtInt<px4::params::EKF2_PREDICT_US>) _param_ekf2_predict_us, (ParamExtInt<px4::params::EKF2_PREDICT_US>) _param_ekf2_predict_us,
(ParamExtFloat<px4::params::EKF2_DELAY_MAX>) _param_ekf2_delay_max, (ParamExtFloat<px4::params::EKF2_DELAY_MAX>) _param_ekf2_delay_max,
(ParamExtInt<px4::params::EKF2_IMU_CTRL>) _param_ekf2_imu_ctrl, (ParamExtInt<px4::params::EKF2_IMU_CTRL>) _param_ekf2_imu_ctrl,
src/modules/ekf2/module.yaml
+5
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@@ -1335,3 +1335,8 @@ parameters:
min: 1.0 min: 1.0
unit: SD unit: SD
decimal: 1 decimal: 1
EKF2_LOG_VERBOSE:
description:
short: Verbose logging
type: boolean
default: 1
src/modules/logger/logged_topics.cpp
+32 -89
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@@ -150,65 +150,27 @@ void LoggedTopics::add_default_topics()
add_topic_multi("timesync_status", 1000, 3); add_topic_multi("timesync_status", 1000, 3);
add_optional_topic_multi("telemetry_status", 1000, 4); add_optional_topic_multi("telemetry_status", 1000, 4);
// EKF multi topics (currently max 9 estimators) // EKF multi topics
#if CONSTRAINED_MEMORY {
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 1; // optionally log all estimator* topics at minimal rate
#else const uint16_t kEKFVerboseIntervalMilliseconds = 500; // 2 Hz
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificially limited until PlotJuggler fixed const struct orb_metadata *const *topic_list = orb_get_topics();
add_optional_topic("estimator_selector_status");
add_optional_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
#endif
// always add the first instance for (size_t i = 0; i < orb_topics_count(); i++) {
add_topic("estimator_baro_bias", 500); if (strncmp(topic_list[i]->o_name, "estimator", 9) == 0) {
add_topic("estimator_gnss_hgt_bias", 500); add_optional_topic_multi(topic_list[i]->o_name, kEKFVerboseIntervalMilliseconds);
add_topic("estimator_ev_pos_bias", 500); }
add_topic("estimator_event_flags", 0); }
add_topic("estimator_gps_status", 1000); }
add_topic("estimator_innovation_test_ratios", 500);
add_topic("estimator_innovation_variances", 500);
add_topic("estimator_innovations", 500);
add_topic("estimator_optical_flow_vel", 200);
add_topic("estimator_sensor_bias", 0);
add_topic("estimator_states", 1000);
add_topic("estimator_status", 200);
add_topic("estimator_status_flags", 0);
add_topic("yaw_estimator_status", 1000);
add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES); // important EKF topics (higher rate)
add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES); add_optional_topic("estimator_selector_status", 10);
add_optional_topic_multi("estimator_ev_pos_bias", 500, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_event_flags", 10);
add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_optical_flow_vel", 200);
add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_sensor_bias", 1000);
add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_status", 200);
add_optional_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_status_flags", 10);
add_optional_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("yaw_estimator_status", 1000);
add_optional_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_airspeed", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_baro_hgt", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_ev_pos", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_ev_vel", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_gravity", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_rng_hgt", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_fake_hgt", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_fake_pos", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_gnss_yaw", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_gnss_vel", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_gnss_pos", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_mag", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_optical_flow", 100, MAX_ESTIMATOR_INSTANCES);
// add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_aux_global_position", 100, MAX_ESTIMATOR_INSTANCES);
// log all raw sensors at minimal rate (at least 1 Hz) // log all raw sensors at minimal rate (at least 1 Hz)
add_topic_multi("battery_status", 200, 2); add_topic_multi("battery_status", 200, 2);
@@ -262,42 +224,23 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_local_position_groundtruth", 20); add_topic("vehicle_local_position_groundtruth", 20);
// EKF replay // EKF replay
add_topic("estimator_baro_bias"); {
add_topic("estimator_gnss_hgt_bias"); // optionally log all estimator* topics at minimal rate
add_topic("estimator_ev_pos_bias"); const uint16_t kEKFVerboseIntervalMilliseconds = 10; // 100 Hz
add_topic("estimator_event_flags"); const struct orb_metadata *const *topic_list = orb_get_topics();
add_topic("estimator_gps_status");
add_topic("estimator_innovation_test_ratios"); for (size_t i = 0; i < orb_topics_count(); i++) {
add_topic("estimator_innovation_variances"); if (strncmp(topic_list[i]->o_name, "estimator", 9) == 0) {
add_topic("estimator_innovations"); add_optional_topic_multi(topic_list[i]->o_name, kEKFVerboseIntervalMilliseconds);
add_topic("estimator_optical_flow_vel"); }
add_topic("estimator_sensor_bias"); }
add_topic("estimator_states"); }
add_topic("estimator_status");
add_topic("estimator_status_flags");
add_topic("vehicle_attitude"); add_topic("vehicle_attitude");
add_topic("vehicle_global_position"); add_topic("vehicle_global_position");
add_topic("vehicle_local_position"); add_topic("vehicle_local_position");
add_topic("wind"); add_topic("wind");
add_topic("yaw_estimator_status"); add_optional_topic_multi("yaw_estimator_status");
add_optional_topic_multi("estimator_aid_src_airspeed", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_baro_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_rng_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_fake_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_fake_pos", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_ev_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_ev_pos", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_ev_vel", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_ev_yaw", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_pos", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_vel", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gnss_yaw", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_aid_src_gravity", 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_sideslip", 0, MAX_ESTIMATOR_INSTANCES);
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */ #endif /* CONFIG_ARCH_BOARD_PX4_SITL */
} }