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allow testing ekf2 in simulation with jmavsim

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Roman
2015-12-06 13:24:42 +01:00
parent 5ded6884ed
commit 63ac712eab
4 changed files with 10 additions and 7 deletions
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cmake/configs/posix_sitl_default.cmake
+3 -1
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@@ -37,7 +37,10 @@ set(config_module_list
#modules/attitude_estimator_q #modules/attitude_estimator_q
modules/ekf_att_pos_estimator modules/ekf_att_pos_estimator
modules/position_estimator_inav modules/position_estimator_inav
modules/mc_pos_control
modules/mc_att_control
modules/navigator modules/navigator
modules/commander
modules/vtol_att_control modules/vtol_att_control
modules/controllib modules/controllib
modules/ekf2 modules/ekf2
@@ -51,7 +54,6 @@ set(config_module_list
lib/launchdetection lib/launchdetection
lib/terrain_estimation lib/terrain_estimation
lib/runway_takeoff lib/runway_takeoff
lib/ecl/EKF/tests/base
) )
set(config_extra_builtin_cmds set(config_extra_builtin_cmds
posix-configs/SITL/init/rcS_jmavsim_iris
+1 -2
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@@ -45,8 +45,7 @@ sensors start
commander start commander start
land_detector start multicopter land_detector start multicopter
navigator start navigator start
attitude_estimator_q start ekf_att_pos_estimator start
position_estimator_inav start
mc_pos_control start mc_pos_control start
mc_att_control start mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
src/modules/ekf2/CMakeLists.txt
+2 -2
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@@ -32,13 +32,13 @@
############################################################################# #############################################################################
set(MODULE_CFLAGS) set(MODULE_CFLAGS)
if (${OS} STREQUAL "nuttx") if (${OS} STREQUAL "nuttx")
list(APPEND MODULE_CFLAGS -Wframe-larger-than=30000) list(APPEND MODULE_CFLAGS -Wframe-larger-than=60000)
endif() endif()
px4_add_module( px4_add_module(
MODULE modules__ekf2 MODULE modules__ekf2
MAIN ekf2 MAIN ekf2
COMPILE_FLAGS ${MODULE_CFLAGS} COMPILE_FLAGS ${MODULE_CFLAGS}
STACK 30000 STACK 60000
SRCS SRCS
ekf2_main.cpp ekf2_main.cpp
DEPENDS DEPENDS
src/modules/ekf2/ekf2_main.cpp
+4 -2
View File
@@ -68,7 +68,7 @@
#include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/airspeed.h> #include <uORB/topics/airspeed.h>
#include <ecl/EKF/estimator_base.h> #include <ecl/EKF/ekf.h>
extern "C" __EXPORT int ekf2_main(int argc, char *argv[]); extern "C" __EXPORT int ekf2_main(int argc, char *argv[]);
@@ -128,7 +128,7 @@ private:
Ekf2::Ekf2() Ekf2::Ekf2()
{ {
_ekf = new EstimatorBase(); _ekf = new Ekf();
} }
Ekf2::~Ekf2() Ekf2::~Ekf2()
@@ -225,6 +225,8 @@ void Ekf2::task_main()
if (airspeed_updated) { if (airspeed_updated) {
_ekf->setAirspeedData(airspeed.timestamp, &airspeed.indicated_airspeed_m_s); _ekf->setAirspeedData(airspeed.timestamp, &airspeed.indicated_airspeed_m_s);
} }
_ekf->update();
} }
} }