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ekf2: purge remaining EKF2_AID_MASK references

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This commit is contained in:
Daniel Agar
2023-11-15 15:55:27 -05:00
committed by Mathieu Bresciani
parent e90e8ae0ea
commit 3b2d766573
3 changed files with 1 additions and 162 deletions
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src/modules/ekf2/EKF2.cpp
+1 -116
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@@ -821,19 +821,6 @@ void EKF2::VerifyParams()
{
#if defined(CONFIG_EKF2_GNSS)
if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_GPS)
|| (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_GPS_YAW)) {
_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_GPS |
SensorFusionMask::DEPRECATED_USE_GPS_YAW));
_param_ekf2_aid_mask.commit();
mavlink_log_critical(&_mavlink_log_pub, "Use EKF2_GPS_CTRL instead\n");
/* EVENT
* @description <param>EKF2_AID_MASK</param> is set to {1:.0}.
*/
events::send<float>(events::ID("ekf2_aid_mask_gps"), events::Log::Warning,
"Use EKF2_GPS_CTRL instead", _param_ekf2_aid_mask.get());
}
if ((_param_ekf2_gps_ctrl.get() & GnssCtrl::VPOS) && !(_param_ekf2_gps_ctrl.get() & GnssCtrl::HPOS)) {
_param_ekf2_gps_ctrl.set(_param_ekf2_gps_ctrl.get() & ~GnssCtrl::VPOS);
_param_ekf2_gps_ctrl.commit();
@@ -906,110 +893,8 @@ void EKF2::VerifyParams()
"EV vertical position enabled by EKF2_HGT_REF", _param_ekf2_ev_ctrl.get());
}
// EV EKF2_AID_MASK -> EKF2_EV_CTRL
if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)
|| (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS)
|| (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW)
) {
// EKF2_EV_CTRL set VEL bit
if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)) {
_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast<int32_t>(EvCtrl::VEL));
}
// EKF2_EV_CTRL set HPOS/VPOS bits
if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS)) {
_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get()
| static_cast<int32_t>(EvCtrl::HPOS) | static_cast<int32_t>(EvCtrl::VPOS));
}
// EKF2_EV_CTRL set YAW bit
if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW)) {
_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast<int32_t>(EvCtrl::YAW));
}
_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL));
_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS));
_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW));
_param_ekf2_ev_ctrl.commit();
_param_ekf2_aid_mask.commit();
mavlink_log_critical(&_mavlink_log_pub, "EKF2 EV use EKF2_EV_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_ev"), events::Log::Warning,
"Use EKF2_EV_CTRL instead", _param_ekf2_aid_mask.get());
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
// IMU EKF2_AID_MASK -> EKF2_IMU_CTRL (2023-01-31)
if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_INHIBIT_ACC_BIAS) {
// EKF2_IMU_CTRL set disable accel bias bit
_param_ekf2_imu_ctrl.set(_param_ekf2_imu_ctrl.get() & ~(static_cast<int32_t>(ImuCtrl::AccelBias)));
// EKF2_AID_MASK clear inhibit accel bias bit
_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_INHIBIT_ACC_BIAS));
_param_ekf2_imu_ctrl.commit();
_param_ekf2_aid_mask.commit();
mavlink_log_critical(&_mavlink_log_pub, "EKF2 IMU accel bias inhibit use EKF2_IMU_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_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
#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
#if defined(CONFIG_EKF2_MAGNETOMETER)
// EKF2_MAG_TYPE obsolete options
@@ -1020,7 +905,7 @@ void EKF2::VerifyParams()
mavlink_log_critical(&_mavlink_log_pub, "EKF2_MAG_TYPE invalid, resetting to default");
/* EVENT
* @description <param>EKF2_AID_MASK</param> is set to {1:.0}.
* @description <param>EKF2_MAG_TYPE</param> is set to {1:.0}.
*/
events::send<float>(events::ID("ekf2_mag_type_invalid"), events::Log::Warning,
"EKF2_MAG_TYPE invalid, resetting to default", _param_ekf2_mag_type.get());