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

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This commit is contained in:
Daniel Agar
2023-09-15 10:02:09 -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.h
+9 -1
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@@ -86,7 +86,9 @@ public:
void setIMUData(const imuSample &imu_sample);
#if defined(CONFIG_EKF2_MAGNETOMETER)
void setMagData(const magSample &mag_sample);
#endif // CONFIG_EKF2_MAGNETOMETER
void setGpsData(const gpsMessage &gps);
@@ -231,6 +233,7 @@ public:
Vector3f getPosition() const { return _output_predictor.getPosition(); }
const Vector3f &getOutputTrackingError() const { return _output_predictor.getOutputTrackingError(); }
#if defined(CONFIG_EKF2_MAGNETOMETER)
// Get the value of magnetic declination in degrees to be saved for use at the next startup
// Returns true when the declination can be saved
// At the next startup, set param.mag_declination_deg to the value saved
@@ -263,6 +266,7 @@ public:
strength_gs = _mag_strength;
strength_ref_gs = _mag_strength_gps;
}
#endif // CONFIG_EKF2_MAGNETOMETER
// get EKF mode status
const filter_control_status_u &control_status() const { return _control_status; }
@@ -412,7 +416,12 @@ protected:
RingBuffer<imuSample> _imu_buffer{kBufferLengthDefault};
RingBuffer<gpsSample> *_gps_buffer{nullptr};
#if defined(CONFIG_EKF2_MAGNETOMETER)
RingBuffer<magSample> *_mag_buffer{nullptr};
uint64_t _time_last_mag_buffer_push{0};
#endif // CONFIG_EKF2_MAGNETOMETER
RingBuffer<baroSample> *_baro_buffer{nullptr};
#if defined(CONFIG_EKF2_AIRSPEED)
@@ -429,7 +438,6 @@ protected:
RingBuffer<systemFlagUpdate> *_system_flag_buffer{nullptr};
uint64_t _time_last_gps_buffer_push{0};
uint64_t _time_last_mag_buffer_push{0};
uint64_t _time_last_baro_buffer_push{0};
uint64_t _time_last_gnd_effect_on{0};