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ekf2: new kconfig to enable/disable GNSS (enabled by default)

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This commit is contained in:
Daniel Agar
2023-10-11 14:02:34 -04:00
committed by GitHub
parent 2d78383296
commit d2b3e7fe16
24 changed files with 476 additions and 331 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+8
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@@ -46,7 +46,9 @@
EstimatorInterface::~EstimatorInterface()
{
#if defined(CONFIG_EKF2_GNSS)
delete _gps_buffer;
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_MAGNETOMETER)
delete _mag_buffer;
#endif // CONFIG_EKF2_MAGNETOMETER
@@ -144,6 +146,7 @@ void EstimatorInterface::setMagData(const magSample &mag_sample)
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_GNSS)
void EstimatorInterface::setGpsData(const gpsMessage &gps)
{
if (!_initialised) {
@@ -222,6 +225,7 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps)
ECL_WARN("GPS data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _gps_buffer->get_newest().time_us, _min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_BAROMETER)
void EstimatorInterface::setBaroData(const baroSample &baro_sample)
@@ -585,9 +589,11 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
}
#endif // CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_GNSS)
if (_params.gnss_ctrl > 0) {
max_time_delay_ms = math::max(_params.gps_delay_ms, max_time_delay_ms);
}
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
if (_params.flow_ctrl > 0) {
@@ -713,9 +719,11 @@ void EstimatorInterface::print_status()
printf("minimum observation interval %d us\n", _min_obs_interval_us);
#if defined(CONFIG_EKF2_GNSS)
if (_gps_buffer) {
printf("gps buffer: %d/%d (%d Bytes)\n", _gps_buffer->entries(), _gps_buffer->get_length(), _gps_buffer->get_total_size());
}
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (_mag_buffer) {