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delete SYS_MC_EST_GROUP

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- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously
This commit is contained in:
Daniel Agar
2024-04-15 16:06:08 -04:00
parent 1b1479a92b
commit 78bbb66568
29 changed files with 154 additions and 209 deletions
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src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+4 -1
View File
@@ -99,7 +99,10 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter)
}
}
if (missing_data && _param_sys_mc_est_group.get() == 2) {
int32_t param_ekf2_en = 0;
param_get(param_find_no_notification("EKF2_EN"), &param_ekf2_en);
if (missing_data && (param_ekf2_en == 1)) {
/* EVENT
*/
reporter.armingCheckFailure(required_groups, health_component_t::local_position_estimate,
src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp
-1
View File
@@ -106,7 +106,6 @@ private:
bool _nav_failure_imminent_warned{false};
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::SYS_MC_EST_GROUP>) _param_sys_mc_est_group,
(ParamInt<px4::params::SENS_IMU_MODE>) _param_sens_imu_mode,
(ParamInt<px4::params::COM_ARM_MAG_STR>) _param_com_arm_mag_str,
(ParamFloat<px4::params::COM_ARM_EKF_HGT>) _param_com_arm_ekf_hgt,