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ekf2: scope RngCtrl enum

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This commit is contained in:
bresch
2023-12-05 11:22:59 -05:00
committed by Daniel Agar
parent 1df52df27d
commit 6bd1145006
4 changed files with 9 additions and 9 deletions
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src/modules/ekf2/EKF/common.h
+2 -2
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@@ -141,7 +141,7 @@ enum class GnssCtrl : uint8_t {
YAW = (1<<3)
};
enum RngCtrl : uint8_t {
enum class RngCtrl : uint8_t {
DISABLED = 0,
CONDITIONAL = 1,
ENABLED = 2
@@ -418,7 +418,7 @@ struct parameters {
#if defined(CONFIG_EKF2_RANGE_FINDER)
// range finder fusion
int32_t rng_ctrl{RngCtrl::CONDITIONAL};
int32_t rng_ctrl{static_cast<int32_t>(RngCtrl::CONDITIONAL)};
float range_delay_ms{5.0f}; ///< range finder measurement delay relative to the IMU (mSec)
float range_noise{0.1f}; ///< observation noise for range finder measurements (m)
src/modules/ekf2/EKF/estimator_interface.cpp
+1 -1
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@@ -586,7 +586,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
#if defined(CONFIG_EKF2_RANGE_FINDER)
// using range finder
if ((_params.rng_ctrl != RngCtrl::DISABLED)) {
if ((_params.rng_ctrl != static_cast<int32_t>(RngCtrl::DISABLED))) {
max_time_delay_ms = math::max(_params.range_delay_ms, max_time_delay_ms);
}
#endif // CONFIG_EKF2_RANGE_FINDER
src/modules/ekf2/EKF/range_height_control.cpp
+4 -4
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@@ -121,8 +121,8 @@ void Ekf::controlRangeHeightFusion()
}
// determine if we should use height aiding
const bool do_conditional_range_aid = (_params.rng_ctrl == RngCtrl::CONDITIONAL) && isConditionalRangeAidSuitable();
const bool continuing_conditions_passing = ((_params.rng_ctrl == RngCtrl::ENABLED) || do_conditional_range_aid)
const bool do_conditional_range_aid = (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL)) && isConditionalRangeAidSuitable();
const bool continuing_conditions_passing = ((_params.rng_ctrl == static_cast<int32_t>(RngCtrl::ENABLED)) || do_conditional_range_aid)
&& measurement_valid
&& _range_sensor.isDataHealthy();
@@ -165,13 +165,13 @@ void Ekf::controlRangeHeightFusion()
} else {
if (starting_conditions_passing) {
if ((_params.height_sensor_ref == HeightSensor::RANGE) && (_params.rng_ctrl == RngCtrl::CONDITIONAL)) {
if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE)) && (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))) {
// Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference.
ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME);
_height_sensor_ref = HeightSensor::RANGE;
bias_est.setBias(_state.pos(2) + measurement);
} else if ((_params.height_sensor_ref == HeightSensor::RANGE) && (_params.rng_ctrl != RngCtrl::CONDITIONAL)) {
} else if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE)) && (_params.rng_ctrl != static_cast<int32_t>(RngCtrl::CONDITIONAL))) {
// Range finder is the primary height source, the ground is now the datum used
// to compute the local vertical position
ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME);
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+2 -2
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@@ -57,12 +57,12 @@ void EkfWrapper::setRangeHeightRef()
void EkfWrapper::enableRangeHeightFusion()
{
_ekf_params->rng_ctrl = RngCtrl::ENABLED;
_ekf_params->rng_ctrl = static_cast<int32_t>(RngCtrl::ENABLED);
}
void EkfWrapper::disableRangeHeightFusion()
{
_ekf_params->rng_ctrl = RngCtrl::DISABLED;
_ekf_params->rng_ctrl = static_cast<int32_t>(RngCtrl::DISABLED);
}
bool EkfWrapper::isIntendingRangeHeightFusion() const