move GPS aggregation and blending to sensors #13584
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dagar
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mhkabir
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Nov 24, 2019
| @@ -1,19 +1,36 @@ | |||
| # EKF blended position in WGS84 coordinates. | |||
| # GPS position in WGS84 coordinates. | |||
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Let's fix the things brought up in #6275 now.
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Yes this would probably be the time.
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This should also make it easier to add unit tests for GPS blending. |
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bresch
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| // clear flag to avoid re-use of the same data | ||
| _gps_new_output_data = false; | ||
| if (_vehicle_gps_position_sub.copy(&gps)) { | ||
| gps_message gps_msg{}; |
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I would still like to use a function such as fillGpsMsgWithVehicleGpsPosData (that you forgot to remove) to reduce the amount of code in this massive function.
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Thanks, I need to take another look. I believe this PR predates that ekf2 refactor.
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This moves the multi-GPS handling (and optional blending) from the EKF2 frontend (ekf2_main) to the sensors hub module.
The new module within sensors consumes all
sensor_gpsmessages (formerly vehicle_gps_position) from the GPS driver or UAVCAN, etc. Then based on configuration either passes on the first or blends multiple to create a singlevehicle_gps_positionthat the rest of the system consumes.Although technically in the sensors module, this is a separate work queue item that's scheduled by any sensor_gps publication.
Changes
sensor_gpsvehicle_gps_positionEKF2_GPS_MASK->SENS_GPS_MASKEKF2_GPS_TAU->SENS_GPS_TAU