ekf2: fix optical_flow_vel publication

We should otherwise call this publication before the aid_src publisher that sets the timestamp. Having it separate avoids this ordering constraint.
PX4 · Oct 25, 2023 · eed2870 · eed2870
1 parent f68f88b
commit eed2870
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
@@ -2184,7 +2184,7 @@ void EKF2::PublishOpticalFlowVel(const hrt_abstime &timestamp)
 {
 	const hrt_abstime timestamp_sample = _ekf.aid_src_optical_flow().timestamp_sample;
 
-	if ((timestamp_sample != 0) && (timestamp_sample > _status_optical_flow_pub_last)) {
+	if ((timestamp_sample != 0) && (timestamp_sample > _optical_flow_vel_pub_last)) {
 
 		vehicle_optical_flow_vel_s flow_vel{};
 		flow_vel.timestamp_sample = _ekf.aid_src_optical_flow().timestamp_sample;
@@ -2205,6 +2205,8 @@ void EKF2::PublishOpticalFlowVel(const hrt_abstime &timestamp)
 		flow_vel.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 
 		_estimator_optical_flow_vel_pub.publish(flow_vel);
+
+		_optical_flow_vel_pub_last = timestamp_sample;
 	}
 }
 #endif // CONFIG_EKF2_OPTICAL_FLOW

diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
@@ -377,6 +377,7 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem
 
 	uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_optical_flow_pub{ORB_ID(estimator_aid_src_optical_flow)};
 	hrt_abstime _status_optical_flow_pub_last{0};
+	hrt_abstime _optical_flow_vel_pub_last{0};
 
 	perf_counter_t _msg_missed_optical_flow_perf{nullptr};
 #endif // CONFIG_EKF2_OPTICAL_FLOW