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ekf2: replace defines with enum class

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bresch 2025-05-21 15:56:40 +02:00 committed by Mathieu Bresciani
parent 5332010b13
commit 2dbce4d958
2 changed files with 29 additions and 21 deletions
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35
src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp
View File

@ -43,17 +43,10 @@
#include <mathlib/mathlib.h>
// GPS pre-flight check bit locations
#define MASK_GPS_NSATS (1<<0)
#define MASK_GPS_PDOP (1<<1)
#define MASK_GPS_HACC (1<<2)
#define MASK_GPS_VACC (1<<3)
#define MASK_GPS_SACC (1<<4)
#define MASK_GPS_HDRIFT (1<<5)
#define MASK_GPS_VDRIFT (1<<6)
#define MASK_GPS_HSPD (1<<7)
#define MASK_GPS_VSPD (1<<8)
#define MASK_GPS_SPOOFED (1<<9)
bool Ekf::isGnssCheckEnabled(GnssChecksMask check)
{
return (_params.gps_check_mask & static_cast<int32_t>(check));
}
bool Ekf::runGnssChecks(const gnssSample &gnss)
{
@ -99,16 +92,16 @@ bool Ekf::runGnssChecks(const gnssSample &gnss)
// if any user selected checks have failed, record the fail time
if (
_gps_check_fail_status.flags.fix ||
(_gps_check_fail_status.flags.nsats && (_params.gps_check_mask & MASK_GPS_NSATS)) ||
(_gps_check_fail_status.flags.pdop && (_params.gps_check_mask & MASK_GPS_PDOP)) ||
(_gps_check_fail_status.flags.hacc && (_params.gps_check_mask & MASK_GPS_HACC)) ||
(_gps_check_fail_status.flags.vacc && (_params.gps_check_mask & MASK_GPS_VACC)) ||
(_gps_check_fail_status.flags.sacc && (_params.gps_check_mask & MASK_GPS_SACC)) ||
(_gps_check_fail_status.flags.hdrift && (_params.gps_check_mask & MASK_GPS_HDRIFT)) ||
(_gps_check_fail_status.flags.vdrift && (_params.gps_check_mask & MASK_GPS_VDRIFT)) ||
(_gps_check_fail_status.flags.hspeed && (_params.gps_check_mask & MASK_GPS_HSPD)) ||
(_gps_check_fail_status.flags.vspeed && (_params.gps_check_mask & MASK_GPS_VSPD)) ||
(_gps_check_fail_status.flags.spoofed && (_params.gps_check_mask & MASK_GPS_SPOOFED))
(_gps_check_fail_status.flags.nsats && isGnssCheckEnabled(GnssChecksMask::kNsats)) ||
(_gps_check_fail_status.flags.pdop && isGnssCheckEnabled(GnssChecksMask::kPdop)) ||
(_gps_check_fail_status.flags.hacc && isGnssCheckEnabled(GnssChecksMask::kHacc)) ||
(_gps_check_fail_status.flags.vacc && isGnssCheckEnabled(GnssChecksMask::kVacc)) ||
(_gps_check_fail_status.flags.sacc && isGnssCheckEnabled(GnssChecksMask::kSacc)) ||
(_gps_check_fail_status.flags.hdrift && isGnssCheckEnabled(GnssChecksMask::kHdrift)) ||
(_gps_check_fail_status.flags.vdrift && isGnssCheckEnabled(GnssChecksMask::kVdrift)) ||
(_gps_check_fail_status.flags.hspeed && isGnssCheckEnabled(GnssChecksMask::kHspd)) ||
(_gps_check_fail_status.flags.vspeed && isGnssCheckEnabled(GnssChecksMask::kVspd)) ||
(_gps_check_fail_status.flags.spoofed && isGnssCheckEnabled(GnssChecksMask::kSpoofed))
) {
_last_gps_fail_us = _time_delayed_us;
return false;

15
src/modules/ekf2/EKF/ekf.h
View File

@ -883,6 +883,21 @@ private:
* Checks are adjusted using the EKF2_REQ_* parameters
*/
bool runGnssChecks(const gnssSample &gps);
enum class GnssChecksMask : int32_t {
kNsats = (1 << 0),
kPdop = (1 << 1),
kHacc = (1 << 2),
kVacc = (1 << 3),
kSacc = (1 << 4),
kHdrift = (1 << 5),
kVdrift = (1 << 6),
kHspd = (1 << 7),
kVspd = (1 << 8),
kSpoofed = (1 << 9)
};
bool isGnssCheckEnabled(GnssChecksMask check);
void runOnGroundGnssChecks(const gnssSample &gnss);
void controlGnssHeightFusion(const gnssSample &gps_sample);