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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/test/sensor_simulator/ekf_wrapper.cpp
+19 -19
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@@ -12,7 +12,7 @@ EkfWrapper::~EkfWrapper()
void EkfWrapper::setBaroHeight()
{
_ekf_params->vdist_sensor_type = VDIST_SENSOR_BARO;
_ekf_params->vdist_sensor_type = VerticalHeightSensor::BARO;
}
bool EkfWrapper::isIntendingBaroHeightFusion() const
@@ -22,7 +22,7 @@ bool EkfWrapper::isIntendingBaroHeightFusion() const
void EkfWrapper::setGpsHeight()
{
_ekf_params->vdist_sensor_type = VDIST_SENSOR_GPS;
_ekf_params->vdist_sensor_type = VerticalHeightSensor::GPS;
}
bool EkfWrapper::isIntendingGpsHeightFusion() const
@@ -32,7 +32,7 @@ bool EkfWrapper::isIntendingGpsHeightFusion() const
void EkfWrapper::setRangeHeight()
{
_ekf_params->vdist_sensor_type = VDIST_SENSOR_RANGE;
_ekf_params->vdist_sensor_type = VerticalHeightSensor::RANGE;
}
bool EkfWrapper::isIntendingRangeHeightFusion() const
@@ -42,7 +42,7 @@ bool EkfWrapper::isIntendingRangeHeightFusion() const
void EkfWrapper::setVisionHeight()
{
_ekf_params->vdist_sensor_type = VDIST_SENSOR_EV;
_ekf_params->vdist_sensor_type = VerticalHeightSensor::EV;
}
bool EkfWrapper::isIntendingVisionHeightFusion() const
@@ -52,12 +52,12 @@ bool EkfWrapper::isIntendingVisionHeightFusion() const
void EkfWrapper::enableGpsFusion()
{
_ekf_params->fusion_mode |= MASK_USE_GPS;
_ekf_params->fusion_mode |= SensorFusionMask::USE_GPS;
}
void EkfWrapper::disableGpsFusion()
{
_ekf_params->fusion_mode &= ~MASK_USE_GPS;
_ekf_params->fusion_mode &= ~SensorFusionMask::USE_GPS;
}
bool EkfWrapper::isIntendingGpsFusion() const
@@ -67,12 +67,12 @@ bool EkfWrapper::isIntendingGpsFusion() const
void EkfWrapper::enableGpsHeadingFusion()
{
_ekf_params->fusion_mode |= MASK_USE_GPSYAW;
_ekf_params->fusion_mode |= SensorFusionMask::USE_GPS_YAW;
}
void EkfWrapper::disableGpsHeadingFusion()
{
_ekf_params->fusion_mode &= ~MASK_USE_GPSYAW;
_ekf_params->fusion_mode &= ~SensorFusionMask::USE_GPS_YAW;
}
bool EkfWrapper::isIntendingGpsHeadingFusion() const
@@ -82,12 +82,12 @@ bool EkfWrapper::isIntendingGpsHeadingFusion() const
void EkfWrapper::enableFlowFusion()
{
_ekf_params->fusion_mode |= MASK_USE_OF;
_ekf_params->fusion_mode |= SensorFusionMask::USE_OPT_FLOW;
}
void EkfWrapper::disableFlowFusion()
{
_ekf_params->fusion_mode &= ~MASK_USE_OF;
_ekf_params->fusion_mode &= ~SensorFusionMask::USE_OPT_FLOW;
}
bool EkfWrapper::isIntendingFlowFusion() const
@@ -102,12 +102,12 @@ void EkfWrapper::setFlowOffset(const Vector3f &offset)
void EkfWrapper::enableExternalVisionPositionFusion()
{
_ekf_params->fusion_mode |= MASK_USE_EVPOS;
_ekf_params->fusion_mode |= SensorFusionMask::USE_EXT_VIS_POS;
}
void EkfWrapper::disableExternalVisionPositionFusion()
{
_ekf_params->fusion_mode &= ~MASK_USE_EVPOS;
_ekf_params->fusion_mode &= ~SensorFusionMask::USE_EXT_VIS_POS;
}
bool EkfWrapper::isIntendingExternalVisionPositionFusion() const
@@ -117,12 +117,12 @@ bool EkfWrapper::isIntendingExternalVisionPositionFusion() const
void EkfWrapper::enableExternalVisionVelocityFusion()
{
_ekf_params->fusion_mode |= MASK_USE_EVVEL;
_ekf_params->fusion_mode |= SensorFusionMask::USE_EXT_VIS_VEL;
}
void EkfWrapper::disableExternalVisionVelocityFusion()
{
_ekf_params->fusion_mode &= ~MASK_USE_EVVEL;
_ekf_params->fusion_mode &= ~SensorFusionMask::USE_EXT_VIS_VEL;
}
bool EkfWrapper::isIntendingExternalVisionVelocityFusion() const
@@ -132,12 +132,12 @@ bool EkfWrapper::isIntendingExternalVisionVelocityFusion() const
void EkfWrapper::enableExternalVisionHeadingFusion()
{
_ekf_params->fusion_mode |= MASK_USE_EVYAW;
_ekf_params->fusion_mode |= SensorFusionMask::USE_EXT_VIS_YAW;
}
void EkfWrapper::disableExternalVisionHeadingFusion()
{
_ekf_params->fusion_mode &= ~MASK_USE_EVYAW;
_ekf_params->fusion_mode &= ~SensorFusionMask::USE_EXT_VIS_YAW;
}
bool EkfWrapper::isIntendingExternalVisionHeadingFusion() const
@@ -147,12 +147,12 @@ bool EkfWrapper::isIntendingExternalVisionHeadingFusion() const
void EkfWrapper::enableExternalVisionAlignment()
{
_ekf_params->fusion_mode |= MASK_ROTATE_EV;
_ekf_params->fusion_mode |= SensorFusionMask::ROTATE_EXT_VIS;
}
void EkfWrapper::disableExternalVisionAlignment()
{
_ekf_params->fusion_mode &= ~MASK_ROTATE_EV;
_ekf_params->fusion_mode &= ~SensorFusionMask::ROTATE_EXT_VIS;
}
bool EkfWrapper::isIntendingMagHeadingFusion() const
@@ -167,7 +167,7 @@ bool EkfWrapper::isIntendingMag3DFusion() const
void EkfWrapper::setMagFuseTypeNone()
{
_ekf_params->mag_fusion_type = MAG_FUSE_TYPE_NONE;
_ekf_params->mag_fusion_type = MagFuseType::NONE;
}
bool EkfWrapper::isWindVelocityEstimated() const
src/modules/ekf2/test/sensor_simulator/gps.cpp
+3 -3
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@@ -30,7 +30,7 @@ void Gps::send(const uint64_t time)
_ekf->setGpsData(_gps_data);
}
void Gps::setData(const gps_message &gps)
void Gps::setData(const gpsMessage &gps)
{
_gps_data = gps;
}
@@ -108,9 +108,9 @@ void Gps::stepHorizontalPositionByMeters(const Vector2f hpos_change)
_gps_data.lat = static_cast<int32_t>(lat_new * 1e7);
}
gps_message Gps::getDefaultGpsData()
gpsMessage Gps::getDefaultGpsData()
{
gps_message gps_data{};
gpsMessage gps_data{};
gps_data.time_usec = 0;
gps_data.lat = 473566094;
gps_data.lon = 85190237;
src/modules/ekf2/test/sensor_simulator/gps.h
+3 -3
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@@ -51,7 +51,7 @@ public:
Gps(std::shared_ptr<Ekf> ekf);
~Gps();
void setData(const gps_message &gps);
void setData(const gpsMessage &gps);
void stepHeightByMeters(const float hgt_change);
void stepHorizontalPositionByMeters(const Vector2f hpos_change);
void setPositionRateNED(const Vector3f &rate);
@@ -65,12 +65,12 @@ public:
void setNumberOfSatellites(const int num_satellites);
void setPdop(const float pdop);
gps_message getDefaultGpsData();
gpsMessage getDefaultGpsData();
private:
void send(uint64_t time) override;
gps_message _gps_data{};
gpsMessage _gps_data{};
Vector3f _gps_pos_rate{};
};
src/modules/ekf2/test/sensor_simulator/vio.cpp
+3 -3
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@@ -61,12 +61,12 @@ void Vio::setOrientation(const Quatf &quat)
void Vio::setVelocityFrameToBody()
{
_vio_data.vel_frame = velocity_frame_t::BODY_FRAME_FRD;
_vio_data.vel_frame = VelocityFrame::BODY_FRAME_FRD;
}
void Vio::setVelocityFrameToLocal()
{
_vio_data.vel_frame = velocity_frame_t::LOCAL_FRAME_FRD;
_vio_data.vel_frame = VelocityFrame::LOCAL_FRAME_FRD;
}
extVisionSample Vio::dataAtRest()
@@ -78,7 +78,7 @@ extVisionSample Vio::dataAtRest()
vio_data.posVar = Vector3f{0.1f, 0.1f, 0.1f};
vio_data.velCov = matrix::eye<float, 3>() * 0.1f;
vio_data.angVar = 0.05f;
vio_data.vel_frame = velocity_frame_t::LOCAL_FRAME_FRD;
vio_data.vel_frame = VelocityFrame::LOCAL_FRAME_FRD;
return vio_data;
}