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ekf2: only advertise immediately in multi-EKF mode

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Daniel Agar
2020-11-01 14:20:51 -05:00
parent 1dd3283fbb
commit a1ef4d1469
1 changed files with 20 additions and 19 deletions
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src/modules/ekf2/EKF2.cpp
+20 -19
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@@ -166,26 +166,27 @@ EKF2::EKF2(int instance, const px4::wq_config_t &config, int imu, int mag, bool
_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);
// advertise immediately to ensure consistent uORB instance numbering
_attitude_pub.advertise();
_local_position_pub.advertise();
_global_position_pub.advertise();
_odometry_pub.advertise();
_ekf2_timestamps_pub.advertise();
_ekf_gps_drift_pub.advertise();
_estimator_innovation_test_ratios_pub.advertise();
_estimator_innovation_variances_pub.advertise();
_estimator_innovations_pub.advertise();
_estimator_optical_flow_vel_pub.advertise();
_estimator_sensor_bias_pub.advertise();
_estimator_states_pub.advertise();
_estimator_status_pub.advertise();
_estimator_visual_odometry_aligned_pub.advertised();
_wind_pub.advertise();
_yaw_est_pub.advertise();
if (_multi_mode) { if (_multi_mode) {
// advertise immediately to ensure consistent uORB instance numbering
_attitude_pub.advertise();
_local_position_pub.advertise();
_global_position_pub.advertise();
_odometry_pub.advertise();
_ekf2_timestamps_pub.advertise();
_ekf_gps_drift_pub.advertise();
_estimator_innovation_test_ratios_pub.advertise();
_estimator_innovation_variances_pub.advertise();
_estimator_innovations_pub.advertise();
_estimator_optical_flow_vel_pub.advertise();
_estimator_sensor_bias_pub.advertise();
_estimator_states_pub.advertise();
_estimator_status_pub.advertise();
_estimator_visual_odometry_aligned_pub.advertised();
_wind_pub.advertise();
_yaw_est_pub.advertise();
_vehicle_imu_sub.ChangeInstance(imu); _vehicle_imu_sub.ChangeInstance(imu);
_magnetometer_sub.ChangeInstance(mag); _magnetometer_sub.ChangeInstance(mag);
} }