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ekf2: add terrain estimator_status_flags

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This commit is contained in:
Daniel Agar
2024-07-09 10:10:01 -04:00
parent 64a6971bdb
commit 3e3b886b5d
9 changed files with 47 additions and 48 deletions
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src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+2 -6
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@@ -242,16 +242,12 @@ bool EkfWrapper::isWindVelocityEstimated() const
bool EkfWrapper::isIntendingTerrainRngFusion() const
{
terrain_fusion_status_u terrain_status;
terrain_status.value = _ekf->getTerrainEstimateSensorBitfield();
return terrain_status.flags.range_finder;
return _ekf->control_status_flags().rng_terrain;
}
bool EkfWrapper::isIntendingTerrainFlowFusion() const
{
terrain_fusion_status_u terrain_status;
terrain_status.value = _ekf->getTerrainEstimateSensorBitfield();
return terrain_status.flags.flow;
return _ekf->control_status_flags().opt_flow_terrain;
}
Eulerf EkfWrapper::getEulerAngles() const