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ekf2: move range finder files to aid_sources/range_finder

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This commit is contained in:
Daniel Agar
2024-05-02 17:40:58 -04:00
parent 3dbd3f8a1a
commit 24fdd696cb
14 changed files with 59 additions and 43 deletions
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src/modules/ekf2/EKF/estimator_interface.h
+5 -5
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@@ -67,8 +67,8 @@
#include "output_predictor.h"
#if defined(CONFIG_EKF2_RANGE_FINDER)
# include "range_finder_consistency_check.hpp"
# include "sensor_range_finder.hpp"
# include "aid_sources/range_finder/range_finder_consistency_check.hpp"
# include "aid_sources/range_finder/sensor_range_finder.hpp"
#endif // CONFIG_EKF2_RANGE_FINDER
#include <lib/atmosphere/atmosphere.h>
@@ -107,7 +107,7 @@ public:
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_RANGE_FINDER)
void setRangeData(const rangeSample &range_sample);
void setRangeData(const estimator::sensor::rangeSample &range_sample);
// set sensor limitations reported by the rangefinder
void set_rangefinder_limits(float min_distance, float max_distance)
@@ -115,7 +115,7 @@ public:
_range_sensor.setLimits(min_distance, max_distance);
}
const rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
const estimator::sensor::rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
#endif // CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
@@ -356,7 +356,7 @@ protected:
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_RANGE_FINDER)
RingBuffer<rangeSample> *_range_buffer{nullptr};
RingBuffer<sensor::rangeSample> *_range_buffer{nullptr};
uint64_t _time_last_range_buffer_push{0};
sensor::SensorRangeFinder _range_sensor{};