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Replace EKF/common.h #defines with enums.

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This commit is contained in:
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/gps_control.cpp
+3 -3
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@@ -41,7 +41,7 @@
void Ekf::controlGpsFusion()
{
if (!(_params.fusion_mode & MASK_USE_GPS)) {
if (!(_params.fusion_mode & SensorFusionMask::USE_GPS)) {
stopGpsFusion();
return;
}
@@ -109,7 +109,7 @@ void Ekf::controlGpsFusion()
// TODO: move this to EV control logic
// Reset position state to external vision if we are going to use absolute values
if (_control_status.flags.ev_pos && !(_params.fusion_mode & MASK_ROTATE_EV)) {
if (_control_status.flags.ev_pos && !(_params.fusion_mode & SensorFusionMask::ROTATE_EXT_VIS)) {
resetHorizontalPositionToVision();
}
}
@@ -136,7 +136,7 @@ void Ekf::controlGpsFusion()
startGpsFusion();
}
} else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE)) {
} else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) {
// If no mag is used, align using the yaw estimator (if available)
if (resetYawToEKFGSF()) {
_information_events.flags.yaw_aligned_to_imu_gps = true;