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ekf2: move flow fusion activation from AID_MASK to OF_CTRL

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bresch
2023-04-26 14:32:53 +02:00
committed by Daniel Agar
parent 39c2f95669
commit 2a2e43b620
7 changed files with 45 additions and 8 deletions
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src/modules/ekf2/EKF2.cpp
+24
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@@ -150,6 +150,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
#endif // CONFIG_EKF2_EXTERNAL_VISION
_param_ekf2_grav_noise(_params->gravity_noise),
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
_param_ekf2_of_ctrl(_params->flow_ctrl),
_param_ekf2_of_delay(_params->flow_delay_ms),
_param_ekf2_of_n_min(_params->flow_noise),
_param_ekf2_of_n_max(_params->flow_noise_qual_min),
@@ -884,6 +885,29 @@ void EKF2::VerifyParams()
}
#endif // CONFIG_EKF2_DRAG_FUSION
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
// IMU EKF2_AID_MASK -> EKF2_OF_CTRL (2023-04-26)
if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_OPT_FLOW) {
// EKF2_OF_CTRL enable flow fusion
_param_ekf2_of_ctrl.set(1);
// EKF2_AID_MASK clear deprecated bit
_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_OPT_FLOW));
_param_ekf2_of_ctrl.commit();
_param_ekf2_aid_mask.commit();
mavlink_log_critical(&_mavlink_log_pub, "EKF2 optical flow use EKF2_OF_CTRL instead of EKF2_AID_MASK\n");
/* EVENT
* @description <param>EKF2_AID_MASK</param> is set to {1:.0}.
*/
events::send<float>(events::ID("ekf2_aid_mask_opt_flow"), events::Log::Warning,
"Use EKF2_OF_CTRL instead", _param_ekf2_aid_mask.get());
}
#endif // CONFIG_EKF2_OPTICAL_FLOW
}
void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)