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EKF2: fix builds without CONFIG_EKF2_RANGE_FINDER

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-06-26 10:13:29 +02:00
parent a50ef2eb5e
commit 1ae96d6509
2 changed files with 19 additions and 7 deletions
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src/modules/ekf2/EKF2.cpp
+4
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@@ -2314,6 +2314,8 @@ bool EKF2::UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps)
new_optical_flow = true;
}
#if defined(CONFIG_EKF2_RANGE_FINDER)
// use optical_flow distance as range sample if distance_sensor unavailable
if (PX4_ISFINITE(optical_flow.distance_m) && (ekf2_timestamps.timestamp > _last_range_sensor_update + 1_s)) {
@@ -2330,6 +2332,8 @@ bool EKF2::UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps)
_ekf.set_rangefinder_limits(optical_flow.min_ground_distance, optical_flow.max_ground_distance);
}
#endif // CONFIG_EKF2_RANGE_FINDER
ekf2_timestamps.optical_flow_timestamp_rel = (int16_t)((int64_t)optical_flow.timestamp / 100 -
(int64_t)ekf2_timestamps.timestamp / 100);
}