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fix EKF2_AID_MASK migration

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This commit is contained in:
Daniel Agar
2022-11-01 10:07:13 -04:00
parent 4ffdd2ed63
commit 81d622d11b
1 changed files with 17 additions and 2 deletions
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src/modules/ekf2/EKF2.cpp
+17 -2
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@@ -756,12 +756,27 @@ void EKF2::VerifyParams()
|| (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW)
) {
_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() & ~static_cast<int32_t>(EvCtrl::VEL));
_param_ekf2_ev_ctrl.commit();
// EKF2_EV_CTRL set VEL bit
if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)) {
_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast<int32_t>(EvCtrl::VEL));
}
// EKF2_EV_CTRL set HPOS/VPOS bits
if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS)) {
_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get()
| static_cast<int32_t>(EvCtrl::HPOS) | static_cast<int32_t>(EvCtrl::VPOS));
}
// EKF2_EV_CTRL set YAW bit
if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW)) {
_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast<int32_t>(EvCtrl::YAW));
}
_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL));
_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS));
_param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_USE_EXT_VIS_YAW));
_param_ekf2_ev_ctrl.commit();
_param_ekf2_aid_mask.commit();
mavlink_log_critical(&_mavlink_log_pub, "EKF2 EV use EKF2_EV_CTRL instead of EKF2_AID_MASK\n");