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Replace EKF/common.h #defines with enums.

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mcsauder
2022-05-18 09:25:19 -04:00
committed by Daniel Agar
parent 8f2c84d36f
commit ea10eacb99
17 changed files with 171 additions and 164 deletions
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src/modules/ekf2/EKF/covariance.cpp
+1 -1
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@@ -142,7 +142,7 @@ void Ekf::predictCovariance()
const bool is_manoeuvre_level_high = _ang_rate_magnitude_filt > _params.acc_bias_learn_gyr_lim
|| _accel_magnitude_filt > _params.acc_bias_learn_acc_lim;
const bool do_inhibit_all_axes = (_params.fusion_mode & MASK_INHIBIT_ACC_BIAS)
const bool do_inhibit_all_axes = (_params.fusion_mode & SensorFusionMask::INHIBIT_ACC_BIAS)
|| is_manoeuvre_level_high
|| _fault_status.flags.bad_acc_vertical;