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ekf2-pos bias estimator: use enum

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This commit is contained in:
bresch 2023-12-05 12:04:59 +01:00 committed by Daniel Agar
parent a3515a2474
commit 5ca22df55c
2 changed files with 6 additions and 5 deletions
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4
src/modules/ekf2/EKF/ekf.h
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@ -1140,11 +1140,11 @@ private:
void resetQuatStateYaw(float yaw, float yaw_variance);
HeightSensor _height_sensor_ref{HeightSensor::UNKNOWN};
uint8_t _position_sensor_ref{static_cast<uint8_t>(PositionSensor::GNSS)};
PositionSensor _position_sensor_ref{PositionSensor::GNSS};
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
HeightBiasEstimator _ev_hgt_b_est{HeightSensor::EV, _height_sensor_ref};
PositionBiasEstimator _ev_pos_b_est{static_cast<uint8_t>(PositionSensor::EV), _position_sensor_ref};
PositionBiasEstimator _ev_pos_b_est{PositionSensor::EV, _position_sensor_ref};
AlphaFilter<Quatf> _ev_q_error_filt{0.001f};
bool _ev_q_error_initialized{false};
#endif // CONFIG_EKF2_EXTERNAL_VISION

7
src/modules/ekf2/EKF/position_bias_estimator.hpp
View File

@ -39,11 +39,12 @@
#define EKF_POSITION_BIAS_ESTIMATOR_HPP
#include "bias_estimator.hpp"
#include "common.h"
class PositionBiasEstimator
{
public:
PositionBiasEstimator(uint8_t sensor, const uint8_t &sensor_ref):
PositionBiasEstimator(PositionSensor sensor, const PositionSensor &sensor_ref):
_sensor(sensor),
_sensor_ref(sensor_ref)
{}
@ -107,8 +108,8 @@ public:
private:
BiasEstimator _bias[2] {};
const uint8_t _sensor;
const uint8_t &_sensor_ref;
const PositionSensor _sensor;
const PositionSensor &_sensor_ref;
bool _is_sensor_fusion_active{false}; // TODO: replace by const ref and remove setter when migrating _control_status.flags from union to bool
};