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ekf2: param migration for rng aid, aid mask (gps) and hgt mode

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bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent 3fb218600a
commit b04d61c411
1 changed files with 35 additions and 0 deletions
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src/lib/parameters/param_translation.cpp
+35
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@@ -255,5 +255,40 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2022-08-04: migrate EKF2_AID_MASK (GPS) -> EKF2_GPS_CTRL, EKF2_RNG_AID->EKF2_RNG_CTRL and EKF2_HGT_MODE->EKF2_HGT_REF
{
if (strcmp("EKF2_AID_MASK", node->name) == 0) {
int32_t aid_mask = node->i32;
bool lat_lon_en = aid_mask & (1 << 0);
bool yaw_en = aid_mask & (1 << 7);
// automatically set alt and vel aiding if the GPS bit was set in the aid mask
bool alt_en = lat_lon_en;
bool vel_en = lat_lon_en;
strcpy(node->name, "EKF2_GPS_CTRL");
node->i32 = lat_lon_en | (alt_en << 1) | (vel_en << 2) | (yaw_en << 3);
PX4_INFO("param migrating EKF2_AID_MASK (GPS) -> EKF2_GPS_CTRL: value=%d", node->i32);
return true;
}
if (strcmp("EKF2_RNG_AID", node->name) == 0) {
strcpy(node->name, "EKF2_RNG_CTRL");
PX4_INFO("param migrating EKF2_RNG_AID (removed) -> EKF2_RNG_CTRL: value=%d", node->i32);
return true;
}
if (strcmp("EKF2_HGT_MODE", node->name) == 0) {
strcpy(node->name, "EKF2_HGT_REF");
// If was in range height mode, set range aiding to "always"
if (node->i32 == 2) {
int32_t rng_mode = 2;
param_set_no_notification(param_find("EKF2_RNG_CTRL"), &rng_mode);
}
PX4_INFO("param migrating EKF2_HGT_MODE (removed) -> EKF2_HGT_REF: value=%d", node->i32);
return true;
}
}
return false;
}