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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/EKF2.hpp
+14 -1
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@@ -144,6 +144,19 @@ public:
int instance() const { return _instance; }
private:
//TODO: remove after 1.14 release
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
};
static constexpr uint8_t MAX_NUM_IMUS = 4;
static constexpr uint8_t MAX_NUM_MAGS = 4;
@@ -561,7 +574,7 @@ private:
(ParamExtFloat<px4::params::EKF2_REQ_VDRIFT>) _param_ekf2_req_vdrift, ///< maximum acceptable vertical drift speed (m/s)
// measurement source control
(ParamExtInt<px4::params::EKF2_AID_MASK>)
(ParamInt<px4::params::EKF2_AID_MASK>)
_param_ekf2_aid_mask, ///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
(ParamExtInt<px4::params::EKF2_HGT_REF>) _param_ekf2_hgt_ref, ///< selects the primary source for height data
(ParamExtInt<px4::params::EKF2_BARO_CTRL>) _param_ekf2_baro_ctrl,///< barometer control selection