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Move GPS blending from ekf2 to sensors module

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- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
 - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU

Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Jacob Dahl
2020-09-25 19:28:31 -08:00
committed by GitHub
parent e792c46f20
commit a24488328f
27 changed files with 1147 additions and 861 deletions
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src/lib/parameters/param_translation.cpp
+12
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@@ -98,6 +98,18 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2020-08-23 (v1.12 alpha): translate GPS blending parameters from EKF2 -> SENS
{
if (strcmp("EKF2_GPS_MASK", node->name) == 0) {
strcpy(node->name, "SENS_GPS_MASK");
PX4_INFO("copying %s -> %s", "EKF2_GPS_MASK", "SENS_GPS_MASK");
}
if (strcmp("EKF2_GPS_TAU", node->name) == 0) {
strcpy(node->name, "SENS_GPS_TAU");
PX4_INFO("copying %s -> %s", "EKF2_GPS_TAU", "SENS_GPS_TAU");
}
}
// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)