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ekf2: fix optical_flow_vel publication #22260

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merged 1 commit into from
Oct 25, 2023
+4 −1
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ekf2: fix optical_flow_vel publication #22260

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4 changes: 3 additions & 1 deletion src/modules/ekf2/EKF2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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
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1 change: 1 addition & 0 deletions src/modules/ekf2/EKF2.hpp
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Expand Up @@ -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
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