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ekf2 replay: handle multi multiple GPS instances #9433

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May 9, 2018
Merged

ekf2 replay: handle multi multiple GPS instances #9433

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10 changes: 7 additions & 3 deletions src/modules/replay/replay_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -946,7 +946,8 @@ bool ReplayEkf2::handleTopicUpdate(Subscription &sub, void *data, std::ifstream

return true;

} else if (sub.orb_meta == ORB_ID(vehicle_status) || sub.orb_meta == ORB_ID(vehicle_land_detected)) {
} else if (sub.orb_meta == ORB_ID(vehicle_status) || sub.orb_meta == ORB_ID(vehicle_land_detected)
|| sub.orb_meta == ORB_ID(vehicle_gps_position)) {
return publishTopic(sub, data);
} // else: do not publish

Expand All @@ -965,7 +966,9 @@ void ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
_distance_sensor_msg_id = msg_id;

} else if (sub.orb_meta == ORB_ID(vehicle_gps_position)) {
_gps_msg_id = msg_id;
if (sub.multi_id == 0) {
_gps_msg_id = msg_id;
}

} else if (sub.orb_meta == ORB_ID(optical_flow)) {
_optical_flow_msg_id = msg_id;
Expand All @@ -986,7 +989,8 @@ void ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
// the main loop should only handle publication of the following topics, the sensor topics are
// handled separately in publishEkf2Topics()
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.multi_id == 0);
}

bool ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifstream &replay_file)
Expand Down