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fix(ekf/mavlink): fix logging and mavlink stream of fusion-control-status #27882

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Merged
haumarco merged 1 commit into from
Jul 16, 2026
+7 −0
Merged

fix(ekf/mavlink): fix logging and mavlink stream of fusion-control-status #27882

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1 change: 1 addition & 0 deletions src/modules/ekf2/EKF2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -239,6 +239,7 @@ void EKF2::AdvertiseTopics()
_estimator_sensor_bias_pub.advertise();
_estimator_status_pub.advertise();
_estimator_status_flags_pub.advertise();
_estimator_fc_pub.advertise();

if (_multi_mode) {
// only force advertise these in multi mode to ensure consistent uORB instance numbering
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6 changes: 6 additions & 0 deletions src/modules/mavlink/mavlink_main.cpp
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Expand Up @@ -2006,6 +2006,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
configure_stream_local("CURRENT_MODE", 0.5f);
configure_stream_local("ESTIMATOR_STATUS", 1.0f);
#if defined(MAVLINK_MSG_ID_ESTIMATOR_SENSOR_FUSION_STATUS)
configure_stream_local("ESTIMATOR_SENSOR_FUSION_STATUS", 1.0f);
#endif
configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
configure_stream_local("GLOBAL_POSITION_SENSOR", 10.0f);
configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
Expand Down Expand Up @@ -2073,6 +2076,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("CAMERA_IMAGE_CAPTURED", 2.0f);
configure_stream_local("CURRENT_MODE", 0.5f);
configure_stream_local("ESTIMATOR_STATUS", 1.0f);
#if defined(MAVLINK_MSG_ID_ESTIMATOR_SENSOR_FUSION_STATUS)
configure_stream_local("ESTIMATOR_SENSOR_FUSION_STATUS", 1.0f);
#endif
configure_stream_local("EXTENDED_SYS_STATE", 0.5f);
configure_stream_local("GLOBAL_POSITION_INT", 2.0f);
configure_stream_local("GLOBAL_POSITION_SENSOR", 2.0f);
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