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ekf2: split gnss pos/vel flags

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They can be selected independently in the control parameter, so there is
no reason why they should share the same flag.
This commit is contained in:
bresch
2025-03-11 14:14:40 +01:00
committed by Mathieu Bresciani
parent da3a0656d4
commit 2aaa54037c
20 changed files with 200 additions and 132 deletions
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src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+1 -1
View File
@@ -117,7 +117,7 @@ void EkfWrapper::disableGpsFusion()
bool EkfWrapper::isIntendingGpsFusion() const
{
return _ekf->control_status_flags().gps;
return _ekf->control_status_flags().gnss_vel || _ekf->control_status_flags().gnss_pos;
}
void EkfWrapper::enableGpsHeadingFusion()
src/modules/ekf2/test/test_EKF_basics.cpp
+4 -2
View File
@@ -103,7 +103,8 @@ TEST_F(EkfBasicsTest, initialControlMode)
// THEN: EKF control status should be reasonable
EXPECT_EQ(1, (int) _ekf->control_status_flags().tilt_align);
EXPECT_EQ(1, (int) _ekf->control_status_flags().yaw_align);
EXPECT_EQ(0, (int) _ekf->control_status_flags().gps);
EXPECT_EQ(0, (int) _ekf->control_status_flags().gnss_pos);
EXPECT_EQ(0, (int) _ekf->control_status_flags().gnss_vel);
EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow);
EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg);
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D);
@@ -158,7 +159,8 @@ TEST_F(EkfBasicsTest, gpsFusion)
// THEN: EKF should fuse GPS, but no other position sensor
EXPECT_EQ(1, (int) _ekf->control_status_flags().tilt_align);
EXPECT_EQ(1, (int) _ekf->control_status_flags().yaw_align);
EXPECT_EQ(1, (int) _ekf->control_status_flags().gps);
EXPECT_EQ(1, (int) _ekf->control_status_flags().gnss_pos);
EXPECT_EQ(1, (int) _ekf->control_status_flags().gnss_vel);
EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow);
EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg);
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D);