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ekf2: move synthetic_position flag to control_status.flags.fake_pos

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bresch
2022-09-10 12:29:29 -04:00
committed by Daniel Agar
parent 86f7e15f7a
commit aa716936bf
8 changed files with 48 additions and 46 deletions
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src/modules/ekf2/EKF/fake_pos_control.cpp
+5 -5
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@@ -53,7 +53,7 @@ void Ekf::controlFakePosFusion()
const bool continuing_conditions_passing = !isHorizontalAidingActive();
const bool starting_conditions_passing = continuing_conditions_passing;
if (_using_synthetic_position) {
if (_control_status.flags.fake_pos) {
if (continuing_conditions_passing) {
fuseFakePosition();
@@ -83,9 +83,9 @@ void Ekf::controlFakePosFusion()
void Ekf::startFakePosFusion()
{
if (!_using_synthetic_position) {
if (!_control_status.flags.fake_pos) {
ECL_INFO("start fake position fusion");
_using_synthetic_position = true;
_control_status.flags.fake_pos = true;
_fuse_hpos_as_odom = false; // TODO: needed?
resetFakePosFusion();
}
@@ -105,9 +105,9 @@ void Ekf::resetFakePosFusion()
void Ekf::stopFakePosFusion()
{
if (_using_synthetic_position) {
if (_control_status.flags.fake_pos) {
ECL_INFO("stop fake position fusion");
_using_synthetic_position = false;
_control_status.flags.fake_pos = false;
resetEstimatorAidStatus(_aid_src_fake_pos);
}