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replay: remove GPS relative timestamps

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson
2020-02-06 16:13:50 +01:00
committed by Beat Küng
parent b399698306
commit a61f1647ad
4 changed files with 2 additions and 14 deletions
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1
msg/ekf2_timestamps.msg
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@@ -15,7 +15,6 @@ int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative times
int16 airspeed_timestamp_rel int16 airspeed_timestamp_rel
int16 distance_sensor_timestamp_rel int16 distance_sensor_timestamp_rel
int16 gps_timestamp_rel
int16 optical_flow_timestamp_rel int16 optical_flow_timestamp_rel
int16 vehicle_air_data_timestamp_rel int16 vehicle_air_data_timestamp_rel
int16 vehicle_magnetometer_timestamp_rel int16 vehicle_magnetometer_timestamp_rel

3
src/modules/ekf2/ekf2_main.cpp
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@@ -804,7 +804,6 @@ void Ekf2::Run()
ekf2_timestamps.airspeed_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID; ekf2_timestamps.airspeed_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
ekf2_timestamps.distance_sensor_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID; ekf2_timestamps.distance_sensor_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
ekf2_timestamps.gps_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
ekf2_timestamps.optical_flow_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID; ekf2_timestamps.optical_flow_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
ekf2_timestamps.vehicle_air_data_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID; ekf2_timestamps.vehicle_air_data_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
ekf2_timestamps.vehicle_magnetometer_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID; ekf2_timestamps.vehicle_magnetometer_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID;
@@ -928,8 +927,6 @@ void Ekf2::Run()
if (_gps_subs[0].copy(&gps)) { if (_gps_subs[0].copy(&gps)) {
fillGpsMsgWithVehicleGpsPosData(_gps_state[0], gps); fillGpsMsgWithVehicleGpsPosData(_gps_state[0], gps);
_gps_alttitude_ellipsoid[0] = gps.alt_ellipsoid; _gps_alttitude_ellipsoid[0] = gps.alt_ellipsoid;
ekf2_timestamps.gps_timestamp_rel = (int16_t)((int64_t)gps.timestamp / 100 - (int64_t)ekf2_timestamps.timestamp / 100);
} }
} }

11
src/modules/replay/ReplayEkf2.cpp
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@@ -115,11 +115,6 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
} else if (sub.orb_meta == ORB_ID(distance_sensor)) { } else if (sub.orb_meta == ORB_ID(distance_sensor)) {
_distance_sensor_msg_id = msg_id; _distance_sensor_msg_id = msg_id;
} else if (sub.orb_meta == ORB_ID(vehicle_gps_position)) {
if (sub.multi_id == 0) {
_gps_msg_id = msg_id;
}
} else if (sub.orb_meta == ORB_ID(optical_flow)) { } else if (sub.orb_meta == ORB_ID(optical_flow)) {
_optical_flow_msg_id = msg_id; _optical_flow_msg_id = msg_id;
@@ -135,9 +130,9 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
// the main loop should only handle publication of the following topics, the sensor topics are // the main loop should only handle publication of the following topics, the sensor topics are
// handled separately in publishEkf2Topics() // handled separately in publishEkf2Topics()
// Note: the GPS is not treated here since not missing data is more important than the accuracy of the timestamp
sub.ignored = sub.orb_meta != ORB_ID(ekf2_timestamps) && sub.orb_meta != ORB_ID(vehicle_status) sub.ignored = sub.orb_meta != ORB_ID(ekf2_timestamps) && sub.orb_meta != ORB_ID(vehicle_status)
&& sub.orb_meta != ORB_ID(vehicle_land_detected) && && sub.orb_meta != ORB_ID(vehicle_land_detected) && sub.orb_meta != ORB_ID(vehicle_gps_position);
(sub.orb_meta != ORB_ID(vehicle_gps_position) || sub.multi_id == 0);
} }
bool bool
@@ -153,7 +148,6 @@ ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifs
handle_sensor_publication(ekf2_timestamps.airspeed_timestamp_rel, _airspeed_msg_id); handle_sensor_publication(ekf2_timestamps.airspeed_timestamp_rel, _airspeed_msg_id);
handle_sensor_publication(ekf2_timestamps.distance_sensor_timestamp_rel, _distance_sensor_msg_id); handle_sensor_publication(ekf2_timestamps.distance_sensor_timestamp_rel, _distance_sensor_msg_id);
handle_sensor_publication(ekf2_timestamps.gps_timestamp_rel, _gps_msg_id);
handle_sensor_publication(ekf2_timestamps.optical_flow_timestamp_rel, _optical_flow_msg_id); handle_sensor_publication(ekf2_timestamps.optical_flow_timestamp_rel, _optical_flow_msg_id);
handle_sensor_publication(ekf2_timestamps.vehicle_air_data_timestamp_rel, _vehicle_air_data_msg_id); handle_sensor_publication(ekf2_timestamps.vehicle_air_data_timestamp_rel, _vehicle_air_data_msg_id);
handle_sensor_publication(ekf2_timestamps.vehicle_magnetometer_timestamp_rel, _vehicle_magnetometer_msg_id); handle_sensor_publication(ekf2_timestamps.vehicle_magnetometer_timestamp_rel, _vehicle_magnetometer_msg_id);
@@ -234,7 +228,6 @@ ReplayEkf2::onExitMainLoop()
print_sensor_statistics(_airspeed_msg_id, "airspeed"); print_sensor_statistics(_airspeed_msg_id, "airspeed");
print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor"); print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor");
print_sensor_statistics(_gps_msg_id, "vehicle_gps_position");
print_sensor_statistics(_optical_flow_msg_id, "optical_flow"); print_sensor_statistics(_optical_flow_msg_id, "optical_flow");
print_sensor_statistics(_sensor_combined_msg_id, "sensor_combined"); print_sensor_statistics(_sensor_combined_msg_id, "sensor_combined");
print_sensor_statistics(_vehicle_air_data_msg_id, "vehicle_air_data"); print_sensor_statistics(_vehicle_air_data_msg_id, "vehicle_air_data");

1
src/modules/replay/ReplayEkf2.hpp
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@@ -82,7 +82,6 @@ private:
uint16_t _airspeed_msg_id = msg_id_invalid; uint16_t _airspeed_msg_id = msg_id_invalid;
uint16_t _distance_sensor_msg_id = msg_id_invalid; uint16_t _distance_sensor_msg_id = msg_id_invalid;
uint16_t _gps_msg_id = msg_id_invalid;
uint16_t _optical_flow_msg_id = msg_id_invalid; uint16_t _optical_flow_msg_id = msg_id_invalid;
uint16_t _sensor_combined_msg_id = msg_id_invalid; uint16_t _sensor_combined_msg_id = msg_id_invalid;
uint16_t _vehicle_air_data_msg_id = msg_id_invalid; uint16_t _vehicle_air_data_msg_id = msg_id_invalid;