fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 13:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: add kconfig for barometer support (enabled by default)

Browse Source
This commit is contained in:
Daniel Agar
2023-09-15 10:02:09 -04:00
parent f0224c5104
commit 1e9f0ad2c6
13 changed files with 168 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/estimator_interface.cpp
+6
View File
@@ -50,7 +50,9 @@ EstimatorInterface::~EstimatorInterface()
#if defined(CONFIG_EKF2_MAGNETOMETER)
delete _mag_buffer;
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_BAROMETER)
delete _baro_buffer;
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_RANGE_FINDER)
delete _range_buffer;
#endif // CONFIG_EKF2_RANGE_FINDER
@@ -221,6 +223,7 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps)
}
}
#if defined(CONFIG_EKF2_BAROMETER)
void EstimatorInterface::setBaroData(const baroSample &baro_sample)
{
if (!_initialised) {
@@ -256,6 +259,7 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)
ECL_WARN("baro data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _baro_buffer->get_newest().time_us, _min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_AIRSPEED)
void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
@@ -717,9 +721,11 @@ void EstimatorInterface::print_status()
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_BAROMETER)
if (_baro_buffer) {
printf("baro buffer: %d/%d (%d Bytes)\n", _baro_buffer->entries(), _baro_buffer->get_length(), _baro_buffer->get_total_size());
}
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_RANGE_FINDER)
if (_range_buffer) {