From 99c59fc04794af8779d939b7bfec3f1ead80b922 Mon Sep 17 00:00:00 2001 From: NXPLoic Date: Thu, 10 Oct 2024 09:45:33 +0200 Subject: [PATCH] Added vte_aid_uwb to logged topics Fixed VTE UWB param --- src/modules/logger/logged_topics.cpp | 1 + src/modules/vision_target_estimator/Position/VTEPosition.h | 6 +++--- .../vision_target_estimator_params.c | 5 +++-- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 4eba8c20c2c2..e278be987aa3 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -221,6 +221,7 @@ void LoggedTopics::add_default_topics() add_optional_topic("vte_aid_gps_vel_target", 100); add_optional_topic("vte_aid_fiducial_marker", 100); add_optional_topic("vte_aid_ev_yaw", 100); + add_optional_topic("vte_aid_uwb", 100); add_optional_topic("vte_acc_input", 50); #endif // !CONSTRAINED_FLASH diff --git a/src/modules/vision_target_estimator/Position/VTEPosition.h b/src/modules/vision_target_estimator/Position/VTEPosition.h index f83ee3109c13..549f3635e480 100644 --- a/src/modules/vision_target_estimator/Position/VTEPosition.h +++ b/src/modules/vision_target_estimator/Position/VTEPosition.h @@ -190,9 +190,9 @@ class VTEPosition: public ModuleParams USE_TARGET_GPS_POS = (1 << 0), ///< set to true to use target GPS position data USE_UAV_GPS_VEL = (1 << 1), ///< set to true to use drone GPS velocity data USE_EXT_VIS_POS = (1 << 2), ///< set to true to use target external vision-based relative position data - USE_MISSION_POS = (1 << 3), ///< set to true to use the PX4 mission position - USE_TARGET_GPS_VEL = (1 << 4), ///< set to true to use target GPS velocity data. Only for moving targets. - USE_UWB = (1 << 5) ///< set to true to use UWB. + USE_MISSION_POS = (1 << 3), ///< set to true to use the PX4 mission position + USE_TARGET_GPS_VEL = (1 << 4), ///< set to true to use target GPS velocity data. Only for moving targets. + USE_UWB = (1 << 5) ///< set to true to use UWB. }; enum ObservationValidMask : uint8_t { diff --git a/src/modules/vision_target_estimator/vision_target_estimator_params.c b/src/modules/vision_target_estimator/vision_target_estimator_params.c index 99d350d8dc1f..829b09c7577c 100644 --- a/src/modules/vision_target_estimator/vision_target_estimator_params.c +++ b/src/modules/vision_target_estimator/vision_target_estimator_params.c @@ -86,12 +86,13 @@ PARAM_DEFINE_INT32(VTE_EKF_AID, 1); * * @group Vision target Estimator * @min 0 - * @max 31 + * @max 63 * @bit 0 target GNSS position * @bit 1 relative GNSS velocity * @bit 2 vision relative position * @bit 3 mission position - * @bit 4 uwb + * @bit 4 target GNSS velocity + * @bit 5 uwb * * * @group Vision target Estimator