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ekf2: add kconfig for magnetometer support (enabled by default)

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This commit is contained in:
Daniel Agar
2023-08-31 12:46:01 -04:00
parent d1266c856f
commit 845b01a00d
16 changed files with 404 additions and 232 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+6
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@@ -47,7 +47,9 @@
EstimatorInterface::~EstimatorInterface()
{
delete _gps_buffer;
#if defined(CONFIG_EKF2_MAGNETOMETER)
delete _mag_buffer;
#endif // CONFIG_EKF2_MAGNETOMETER
delete _baro_buffer;
#if defined(CONFIG_EKF2_RANGE_FINDER)
delete _range_buffer;
@@ -102,6 +104,7 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample)
#endif // CONFIG_EKF2_DRAG_FUSION
}
#if defined(CONFIG_EKF2_MAGNETOMETER)
void EstimatorInterface::setMagData(const magSample &mag_sample)
{
if (!_initialised) {
@@ -137,6 +140,7 @@ void EstimatorInterface::setMagData(const magSample &mag_sample)
ECL_WARN("mag data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _mag_buffer->get_newest().time_us, _min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_MAGNETOMETER
void EstimatorInterface::setGpsData(const gpsMessage &gps)
{
@@ -707,9 +711,11 @@ void EstimatorInterface::print_status()
printf("gps buffer: %d/%d (%d Bytes)\n", _gps_buffer->entries(), _gps_buffer->get_length(), _gps_buffer->get_total_size());
}
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (_mag_buffer) {
printf("mag buffer: %d/%d (%d Bytes)\n", _mag_buffer->entries(), _mag_buffer->get_length(), _mag_buffer->get_total_size());
}
#endif // CONFIG_EKF2_MAGNETOMETER
if (_baro_buffer) {
printf("baro buffer: %d/%d (%d Bytes)\n", _baro_buffer->entries(), _baro_buffer->get_length(), _baro_buffer->get_total_size());