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ekf2: scope GnssCtrl enum

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This commit is contained in:
bresch
2023-12-05 11:22:59 -05:00
committed by Daniel Agar
parent 97423136d1
commit 1df52df27d
4 changed files with 13 additions and 13 deletions
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src/modules/ekf2/EKF/gnss_height_control.cpp
+2 -2
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@@ -86,7 +86,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
}
// determine if we should use height aiding
const bool continuing_conditions_passing = (_params.gnss_ctrl & GnssCtrl::VPOS)
const bool continuing_conditions_passing = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VPOS))
&& measurement_valid
&& _NED_origin_initialised
&& _gps_checks_passed;
@@ -113,7 +113,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
bias_est.setBias(_state.pos(2) + measurement);
// reset vertical velocity
if (PX4_ISFINITE(gps_sample.vel(2)) && (_params.gnss_ctrl & GnssCtrl::VEL)) {
if (PX4_ISFINITE(gps_sample.vel(2)) && (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VEL))) {
// use 1.5 as a typical ratio of vacc/hacc
resetVerticalVelocityTo(gps_sample.vel(2), sq(math::max(1.5f * gps_sample.sacc, _params.gps_vel_noise)));