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ekf2: remove all remaining uses of EKF2_AID_MASK

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bresch
2023-04-28 22:31:17 -04:00
committed by Daniel Agar
parent 98a8d080b6
commit 521abecbbf
14 changed files with 32 additions and 29 deletions
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src/modules/ekf2/EKF/common.h
+1 -15
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@@ -105,7 +105,7 @@ enum MagFuseType : uint8_t {
MAG_3D = 2, ///< Magnetometer 3-axis fusion will always be used. This is more accurate, but more affected by localised earth field distortions
UNUSED = 3, ///< Not implemented
INDOOR = 4, ///< The same as option 0, but magnetometer or yaw fusion will not be used unless earth frame external aiding (GPS or External Vision) is being used. This prevents inconsistent magnetic fields associated with indoor operation degrading state estimates.
NONE = 5 ///< Do not use magnetometer under any circumstance. Other sources of yaw may be used if selected via the EKF2_AID_MASK parameter.
NONE = 5 ///< Do not use magnetometer under any circumstance..
};
#if defined(CONFIG_EKF2_RANGE_FINDER)
@@ -155,19 +155,6 @@ enum class EvCtrl : uint8_t {
YAW = (1<<3)
};
enum SensorFusionMask : uint16_t {
// Bit locations for fusion_mode
DEPRECATED_USE_GPS = (1<<0), ///< set to true to use GPS data (DEPRECATED, use gnss_ctrl)
DEPRECATED_USE_OPT_FLOW = (1<<1), ///< set to true to use optical flow data
DEPRECATED_INHIBIT_ACC_BIAS = (1<<2), ///< set to true to inhibit estimation of accelerometer delta velocity bias
DEPRECATED_USE_EXT_VIS_POS = (1<<3), ///< set to true to use external vision position data
DEPRECATED_USE_EXT_VIS_YAW = (1<<4), ///< set to true to use external vision quaternion data for yaw
DEPRECATED_USE_DRAG = (1<<5), ///< set to true to use the multi-rotor drag model to estimate wind
DEPRECATED_ROTATE_EXT_VIS = (1<<6), ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
DEPRECATED_USE_GPS_YAW = (1<<7), ///< set to true to use GPS yaw data if available (DEPRECATED, use gnss_ctrl)
DEPRECATED_USE_EXT_VIS_VEL = (1<<8), ///< set to true to use external vision velocity data
};
struct gpsMessage {
uint64_t time_usec{};
int32_t lat{}; ///< Latitude in 1E-7 degrees
@@ -297,7 +284,6 @@ struct parameters {
int32_t imu_ctrl{static_cast<int32_t>(ImuCtrl::GyroBias) | static_cast<int32_t>(ImuCtrl::AccelBias)};
// measurement source control
int32_t fusion_mode{}; ///< bitmasked integer that selects some aiding sources
int32_t height_sensor_ref{HeightSensor::BARO};
int32_t position_sensor_ref{static_cast<int32_t>(PositionSensor::GNSS)};
int32_t baro_ctrl{1};