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ekf2: add kconfig option to enable/disable external vision fusion

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This commit is contained in:
Daniel Agar
2023-03-14 16:31:26 -04:00
parent d47f96f1a5
commit 4363b09421
17 changed files with 209 additions and 68 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+8 -1
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@@ -54,7 +54,9 @@ EstimatorInterface::~EstimatorInterface()
delete _airspeed_buffer;
#endif // CONFIG_EKF2_AIRSPEED
delete _flow_buffer;
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
delete _ext_vision_buffer;
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_DRAG_FUSION)
delete _drag_buffer;
#endif // CONFIG_EKF2_DRAG_FUSION
@@ -355,7 +357,7 @@ void EstimatorInterface::setOpticalFlowData(const flowSample &flow)
}
}
// set attitude and position data derived from an external vision system
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
void EstimatorInterface::setExtVisionData(const extVisionSample &evdata)
{
if (!_initialised) {
@@ -392,6 +394,7 @@ void EstimatorInterface::setExtVisionData(const extVisionSample &evdata)
ECL_WARN("EV data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _ext_vision_buffer->get_newest().time_us, _min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_AUXVEL)
void EstimatorInterface::setAuxVelData(const auxVelSample &auxvel_sample)
@@ -561,9 +564,11 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
max_time_delay_ms = math::max(_params.flow_delay_ms, max_time_delay_ms);
}
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_params.ev_ctrl > 0) {
max_time_delay_ms = math::max(_params.ev_delay_ms, max_time_delay_ms);
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
const float filter_update_period_ms = _params.filter_update_interval_us / 1000.f;
@@ -703,9 +708,11 @@ void EstimatorInterface::print_status()
printf("flow buffer: %d/%d (%d Bytes)\n", _flow_buffer->entries(), _flow_buffer->get_length(), _flow_buffer->get_total_size());
}
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_ext_vision_buffer) {
printf("vision buffer: %d/%d (%d Bytes)\n", _ext_vision_buffer->entries(), _ext_vision_buffer->get_length(), _ext_vision_buffer->get_total_size());
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_DRAG_FUSION)
if (_drag_buffer) {