Split update step to enhance modularity and readability

JonasPerolini · Sep 28, 2024 · 40ff4e8 · 40ff4e8
1 parent 1011f1c
commit 40ff4e8
Show file tree

Hide file tree

Showing 4 changed files with 380 additions and 214 deletions.
diff --git a/msg/EstimatorAidSource3d.msg b/msg/EstimatorAidSource3d.msg
@@ -22,5 +22,5 @@ bool innovation_rejected        # true if the observation has been rejected
 bool fused                      # true if the sample was successfully fused
 
 # TOPICS estimator_aid_src_ev_vel estimator_aid_src_gnss_vel estimator_aid_src_gravity estimator_aid_src_mag
-# TOPICS vte_aid_gps_pos_target vte_aid_gps_pos_mission vte_aid_gps_vel_target vte_aid_gps_vel_rel
+# TOPICS vte_aid_gps_pos_target vte_aid_gps_pos_mission vte_aid_gps_vel_target vte_aid_gps_vel_uav
 # TOPICS vte_aid_fiducial_marker
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
@@ -185,7 +185,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("vision_target_est_orientation", 100);
 	add_optional_topic("vte_aid_gps_pos_target", 100);
 	add_optional_topic("vte_aid_gps_pos_mission", 100);
-	add_optional_topic("vte_aid_gps_vel_rel", 100);
+	add_optional_topic("vte_aid_gps_vel_uav", 100);
 	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);