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EKF: update control status and fault status getters

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- the fault status union exceeded 16 bits, but the getter was get_filter_fault_status(uint16_t *val)
This commit is contained in:
Daniel Agar
2020-12-10 09:13:12 -05:00
committed by GitHub
parent fbf67bdef9
commit 1541e4b414
3 changed files with 64 additions and 84 deletions
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test/sensor_simulator/ekf_wrapper.cpp
+9 -27
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@@ -62,9 +62,7 @@ void EkfWrapper::disableGpsFusion()
bool EkfWrapper::isIntendingGpsFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.gps;
return _ekf->control_status_flags().gps;
}
void EkfWrapper::enableGpsHeadingFusion()
@@ -79,9 +77,7 @@ void EkfWrapper::disableGpsHeadingFusion()
bool EkfWrapper::isIntendingGpsHeadingFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.gps_yaw;
return _ekf->control_status_flags().gps_yaw;
}
void EkfWrapper::enableFlowFusion()
@@ -96,9 +92,7 @@ void EkfWrapper::disableFlowFusion()
bool EkfWrapper::isIntendingFlowFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.opt_flow;
return _ekf->control_status_flags().opt_flow;
}
void EkfWrapper::enableExternalVisionPositionFusion()
@@ -113,9 +107,7 @@ void EkfWrapper::disableExternalVisionPositionFusion()
bool EkfWrapper::isIntendingExternalVisionPositionFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.ev_pos;
return _ekf->control_status_flags().ev_pos;
}
void EkfWrapper::enableExternalVisionVelocityFusion()
@@ -130,9 +122,7 @@ void EkfWrapper::disableExternalVisionVelocityFusion()
bool EkfWrapper::isIntendingExternalVisionVelocityFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.ev_vel;
return _ekf->control_status_flags().ev_vel;
}
void EkfWrapper::enableExternalVisionHeadingFusion()
@@ -147,9 +137,7 @@ void EkfWrapper::disableExternalVisionHeadingFusion()
bool EkfWrapper::isIntendingExternalVisionHeadingFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.ev_yaw;
return _ekf->control_status_flags().ev_yaw;
}
void EkfWrapper::enableExternalVisionAlignment()
@@ -164,23 +152,17 @@ void EkfWrapper::disableExternalVisionAlignment()
bool EkfWrapper::isIntendingMagHeadingFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.mag_hdg;
return _ekf->control_status_flags().mag_hdg;
}
bool EkfWrapper::isIntendingMag3DFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.mag_3D;
return _ekf->control_status_flags().mag_3D;
}
bool EkfWrapper::isWindVelocityEstimated() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.wind;
return _ekf->control_status_flags().wind;
}
void EkfWrapper::enableTerrainRngFusion()