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

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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
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src/modules/ekf2/EKF/estimator_interface.h
+6 -2
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@@ -92,7 +92,9 @@ public:
void setGpsData(const gpsMessage &gps);
#if defined(CONFIG_EKF2_BAROMETER)
void setBaroData(const baroSample &baro_sample);
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_AIRSPEED)
void setAirspeedData(const airspeedSample &airspeed_sample);
@@ -422,8 +424,6 @@ protected:
uint64_t _time_last_mag_buffer_push{0};
#endif // CONFIG_EKF2_MAGNETOMETER
RingBuffer<baroSample> *_baro_buffer{nullptr};
#if defined(CONFIG_EKF2_AIRSPEED)
RingBuffer<airspeedSample> *_airspeed_buffer{nullptr};
#endif // CONFIG_EKF2_AIRSPEED
@@ -438,7 +438,11 @@ protected:
RingBuffer<systemFlagUpdate> *_system_flag_buffer{nullptr};
uint64_t _time_last_gps_buffer_push{0};
#if defined(CONFIG_EKF2_BAROMETER)
RingBuffer<baroSample> *_baro_buffer{nullptr};
uint64_t _time_last_baro_buffer_push{0};
#endif // CONFIG_EKF2_BAROMETER
uint64_t _time_last_gnd_effect_on{0};