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ekf2: enable creading multi-ekf with different configs

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This commit is contained in:
bresch
2023-06-02 10:16:00 +02:00
parent c1e1026734
commit 52401ea5b8
4 changed files with 104 additions and 29 deletions
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src/modules/ekf2/EKF2.hpp
+7 -3
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@@ -115,7 +115,7 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem
{
public:
EKF2() = delete;
EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode);
EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode, int config_param);
~EKF2() override;
/** @see ModuleBase */
@@ -160,6 +160,7 @@ private:
static constexpr uint8_t MAX_NUM_IMUS = 4;
static constexpr uint8_t MAX_NUM_MAGS = 4;
static constexpr uint8_t MAX_NUM_CONFS = 2;
void Run() override;
@@ -257,6 +258,7 @@ private:
const bool _replay_mode{false}; ///< true when we use replay data from a log
const bool _multi_mode;
const int _config_param{0};
int _instance{0};
px4::atomic_bool _task_should_exit{false};
@@ -578,7 +580,8 @@ private:
_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
(ParamExtInt<px4::params::EKF2_GPS_CTRL>) _param_ekf2_gps_ctrl, ///< GPS control selection
(ParamInt<px4::params::EKF2_GPS_CTRL>) _param_ekf2_gps_ctrl, ///< GPS control selection
(ParamInt<px4::params::EKF2_1_GPS_CTRL>) _param_ekf2_1_gps_ctrl, ///< Alternate GPS control selection
(ParamExtInt<px4::params::EKF2_NOAID_TOUT>)
_param_ekf2_noaid_tout, ///< maximum lapsed time from last fusion of measurements that constrain drift before the EKF will report the horizontal nav solution invalid (uSec)
@@ -626,7 +629,8 @@ private:
(ParamExtFloat<px4::params::EKF2_EV_DELAY>)
_param_ekf2_ev_delay, ///< off-board vision measurement delay relative to the IMU (mSec)
(ParamExtInt<px4::params::EKF2_EV_CTRL>) _param_ekf2_ev_ctrl, ///< external vision (EV) control selection
(ParamInt<px4::params::EKF2_EV_CTRL>) _param_ekf2_ev_ctrl, ///< external vision (EV) control selection
(ParamInt<px4::params::EKF2_1_EV_CTRL>) _param_ekf2_1_ev_ctrl, ///< Alternate external vision (EV) control selection
(ParamInt<px4::params::EKF2_EV_NOISE_MD>) _param_ekf2_ev_noise_md, ///< determine source of vision observation noise
(ParamExtInt<px4::params::EKF2_EV_QMIN>) _param_ekf2_ev_qmin,
(ParamExtFloat<px4::params::EKF2_EVP_NOISE>)