fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-13 07:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: move range finder files to aid_sources/range_finder

Browse Source
This commit is contained in:
Daniel Agar
2024-04-04 14:21:56 -04:00
parent 3dbd3f8a1a
commit 24fdd696cb
14 changed files with 59 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/estimator_interface.cpp
+3 -3
View File
@@ -266,7 +266,7 @@ void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_RANGE_FINDER)
void EstimatorInterface::setRangeData(const rangeSample &range_sample)
void EstimatorInterface::setRangeData(const sensor::rangeSample &range_sample)
{
if (!_initialised) {
return;
@@ -274,7 +274,7 @@ void EstimatorInterface::setRangeData(const rangeSample &range_sample)
// Allocate the required buffer size if not previously done
if (_range_buffer == nullptr) {
_range_buffer = new RingBuffer<rangeSample>(_obs_buffer_length);
_range_buffer = new RingBuffer<sensor::rangeSample>(_obs_buffer_length);
if (_range_buffer == nullptr || !_range_buffer->valid()) {
delete _range_buffer;
@@ -291,7 +291,7 @@ void EstimatorInterface::setRangeData(const rangeSample &range_sample)
// limit data rate to prevent data being lost
if (time_us >= static_cast<int64_t>(_range_buffer->get_newest().time_us + _min_obs_interval_us)) {
rangeSample range_sample_new{range_sample};
sensor::rangeSample range_sample_new{range_sample};
range_sample_new.time_us = time_us;
_range_buffer->push(range_sample_new);