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Replace EKF/common.h #defines with enums.

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This commit is contained in:
mcsauder
2022-04-21 15:49:50 -06:00
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/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;
}