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AGP: format enum names

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This commit is contained in:
bresch
2025-07-29 14:29:19 +02:00
committed by Mathieu Bresciani
parent 0b2e4f1ab6
commit 646133a4bf
2 changed files with 17 additions and 17 deletions
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src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp
+11 -11
View File
@@ -69,7 +69,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
if (_aux_global_position_buffer.pop_first_older_than(imu_delayed.time_us, &sample)) {
if (!(_param_ekf2_agp_ctrl.get() & static_cast<int32_t>(Ctrl::HPOS))) {
if (!(_param_ekf2_agp_ctrl.get() & static_cast<int32_t>(Ctrl::kHPos))) {
return;
}
@@ -96,12 +96,12 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
&& ekf.global_origin_valid();
switch (_state) {
case State::stopped:
case State::kStopped:
/* FALLTHROUGH */
case State::starting:
case State::kStarting:
if (starting_conditions) {
_state = State::starting;
_state = State::kStarting;
if (ekf.global_origin_valid()) {
const bool fused = ekf.fuseHorizontalPosition(aid_src);
@@ -116,7 +116,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
if (fused || reset) {
ekf.enableControlStatusAuxGpos();
_reset_counters.lat_lon = sample.lat_lon_reset_counter;
_state = State::active;
_state = State::kActive;
}
} else {
@@ -126,14 +126,14 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
ekf.resetAidSourceStatusZeroInnovation(aid_src);
ekf.enableControlStatusAuxGpos();
_reset_counters.lat_lon = sample.lat_lon_reset_counter;
_state = State::active;
_state = State::kActive;
}
}
}
break;
case State::active:
case State::kActive:
if (continuing_conditions) {
ekf.fuseHorizontalPosition(aid_src);
@@ -149,13 +149,13 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
} else {
ekf.disableControlStatusAuxGpos();
_state = State::stopped;
_state = State::kStopped;
}
}
} else {
ekf.disableControlStatusAuxGpos();
_state = State::stopped;
_state = State::kStopped;
}
break;
@@ -171,9 +171,9 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
_test_ratio_filtered = math::max(fabsf(aid_src.test_ratio_filtered[0]), fabsf(aid_src.test_ratio_filtered[1]));
#endif // MODULE_NAME
} else if ((_state != State::stopped) && isTimedOut(_time_last_buffer_push, imu_delayed.time_us, (uint64_t)5e6)) {
} else if ((_state != State::kStopped) && isTimedOut(_time_last_buffer_push, imu_delayed.time_us, (uint64_t)5e6)) {
ekf.disableControlStatusAuxGpos();
_state = State::stopped;
_state = State::kStopped;
ECL_WARN("Aux global position data stopped");
}
}
src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp
+6 -6
View File
@@ -99,8 +99,8 @@ private:
uint64_t _time_last_buffer_push{0};
enum class Ctrl : uint8_t {
HPOS = (1 << 0),
VPOS = (1 << 1)
kHPos = (1 << 0),
kVPos = (1 << 1)
};
enum class Mode : uint8_t {
@@ -109,12 +109,12 @@ private:
};
enum class State {
stopped,
starting,
active,
kStopped,
kStarting,
kActive,
};
State _state{State::stopped};
State _state{State::kStopped};
float _test_ratio_filtered{INFINITY};