fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 10:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: scope GnssCtrl enum

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+6 -6
View File
@@ -37,12 +37,12 @@ void EkfWrapper::setGpsHeightRef()
void EkfWrapper::enableGpsHeightFusion()
{
_ekf_params->gnss_ctrl |= GnssCtrl::VPOS;
_ekf_params->gnss_ctrl |= static_cast<int32_t>(GnssCtrl::VPOS);
}
void EkfWrapper::disableGpsHeightFusion()
{
_ekf_params->gnss_ctrl &= ~GnssCtrl::VPOS;
_ekf_params->gnss_ctrl &= ~static_cast<int32_t>(GnssCtrl::VPOS);
}
bool EkfWrapper::isIntendingGpsHeightFusion() const
@@ -102,12 +102,12 @@ bool EkfWrapper::isIntendingBetaFusion() const
void EkfWrapper::enableGpsFusion()
{
_ekf_params->gnss_ctrl |= GnssCtrl::HPOS | GnssCtrl::VEL;
_ekf_params->gnss_ctrl |= static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL);
}
void EkfWrapper::disableGpsFusion()
{
_ekf_params->gnss_ctrl &= ~(GnssCtrl::HPOS | GnssCtrl::VEL);
_ekf_params->gnss_ctrl &= ~(static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL));
}
bool EkfWrapper::isIntendingGpsFusion() const
@@ -117,12 +117,12 @@ bool EkfWrapper::isIntendingGpsFusion() const
void EkfWrapper::enableGpsHeadingFusion()
{
_ekf_params->gnss_ctrl |= GnssCtrl::YAW;
_ekf_params->gnss_ctrl |= static_cast<int32_t>(GnssCtrl::YAW);
}
void EkfWrapper::disableGpsHeadingFusion()
{
_ekf_params->gnss_ctrl &= ~GnssCtrl::YAW;
_ekf_params->gnss_ctrl &= ~static_cast<int32_t>(GnssCtrl::YAW);
}
bool EkfWrapper::isIntendingGpsHeadingFusion() const