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ekf2: SensorRangeFinder purge unused Sensor interface

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Daniel Agar 2025-09-25 12:45:18 -04:00
parent 2347cb9e50
commit a6f8b00a6a
2 changed files with 5 additions and 91 deletions
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84
src/modules/ekf2/EKF/aid_sources/range_finder/Sensor.hpp
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@ -1,84 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2020-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Sensor.hpp
* Abstract class for sensors
*
* @author Mathieu Bresciani <brescianimathieu@gmail.com>
*
*/
#ifndef EKF_SENSOR_HPP
#define EKF_SENSOR_HPP
#include <cstdint>
namespace estimator
{
namespace sensor
{
class Sensor
{
public:
virtual ~Sensor() {};
/*
* run sanity checks on the current data
* this has to be called immediately after
* setting new data
*/
virtual void runChecks() {};
/*
* return true if the sensor is healthy
*/
virtual bool isHealthy() const = 0;
/*
* return true if the delayed sample is healthy
* and can be fused in the estimator
*/
virtual bool isDataHealthy() const = 0;
/*
* return true if the sensor data rate is
* stable and high enough
*/
virtual bool isRegularlySendingData() const = 0;
};
} // namespace sensor
} // namespace estimator
#endif // !EKF_SENSOR_HPP

12
src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp
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@ -41,8 +41,6 @@
#ifndef EKF_SENSOR_RANGE_FINDER_HPP
#define EKF_SENSOR_RANGE_FINDER_HPP
#include "Sensor.hpp"
#include <matrix/math.hpp>
#include <lib/mathlib/math/filter/MedianFilter.hpp>
@ -60,17 +58,17 @@ struct rangeSample {
static constexpr uint64_t RNG_MAX_INTERVAL =
200e3; ///< Maximum allowable time interval between range finder measurements (uSec)
class SensorRangeFinder : public Sensor
class SensorRangeFinder
{
public:
SensorRangeFinder() = default;
~SensorRangeFinder() override = default;
~SensorRangeFinder() = default;
void runChecks(uint64_t current_time_us, const matrix::Dcmf &R_to_earth);
bool isHealthy() const override { return _is_sample_valid; }
bool isDataHealthy() const override { return _is_sample_ready && _is_sample_valid; }
bool isHealthy() const { return _is_sample_valid; }
bool isDataHealthy() const { return _is_sample_ready && _is_sample_valid; }
bool isDataReady() const { return _is_sample_ready; }
bool isRegularlySendingData() const override { return _is_regularly_sending_data; }
bool isRegularlySendingData() const { return _is_regularly_sending_data; }
bool isStuckDetectorEnabled() const { return _stuck_threshold > 0.f; }
void setSample(const rangeSample &sample)