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ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL

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This commit is contained in:
bresch
2023-04-26 15:42:24 +02:00
committed by Daniel Agar
parent 8b4566b6bb
commit 39c2f95669
8 changed files with 50 additions and 11 deletions
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src/modules/ekf2/EKF2.cpp
+23
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@@ -174,6 +174,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_abl_tau(_params->acc_bias_learn_tc),
_param_ekf2_gyr_b_lim(_params->gyro_bias_lim),
#if defined(CONFIG_EKF2_DRAG_FUSION)
_param_ekf2_drag_ctrl(_params->drag_ctrl),
_param_ekf2_drag_noise(_params->drag_noise),
_param_ekf2_bcoef_x(_params->bcoef_x),
_param_ekf2_bcoef_y(_params->bcoef_y),
@@ -861,6 +862,28 @@ void EKF2::VerifyParams()
events::send<float>(events::ID("ekf2_aid_mask_imu"), events::Log::Warning,
"Use EKF2_IMU_CTRL instead", _param_ekf2_aid_mask.get());
}
#if defined(CONFIG_EKF2_DRAG_FUSION)
if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_DRAG) {
// EKF2_DRAG_CTRL enable drag fusion
_param_ekf2_drag_ctrl.set(1);
// EKF2_AID_MASK clear deprecated bits
_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_DRAG));
_param_ekf2_drag_ctrl.commit();
_param_ekf2_aid_mask.commit();
mavlink_log_critical(&_mavlink_log_pub, "EKF2 drag fusion use EKF2_DRAG_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_drag"), events::Log::Warning,
"Use EKF2_DRAG_CTRL instead", _param_ekf2_aid_mask.get());
}
#endif // CONFIG_EKF2_DRAG_FUSION
}
void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)