fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-15 06:17:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Robustify timestamp checks (#729)

Browse Source 
* Robustify timestamp checks

* Remove lowerbound on sensor timestamp

* Add tests for fusion timeouts

* Inline and const time check functions

* Rename dead_reckoning time variable
This commit is contained in:
kritz
2020-01-28 10:33:16 +01:00
committed by Paul Riseborough
parent f20726d47f
commit ee859e092a
15 changed files with 429 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/sensor_simulator/ekf_wrapper.cpp
+48
View File
@@ -10,6 +10,54 @@ EkfWrapper::~EkfWrapper()
{
}
void EkfWrapper::setBaroHeight()
{
_ekf_params->vdist_sensor_type = VDIST_SENSOR_BARO;
}
bool EkfWrapper::isIntendingBaroHeightFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.baro_hgt;
}
void EkfWrapper::setGpsHeight()
{
_ekf_params->vdist_sensor_type = VDIST_SENSOR_GPS;
}
bool EkfWrapper::isIntendingGpsHeightFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.gps_hgt;
}
void EkfWrapper::setRangeHeight()
{
_ekf_params->vdist_sensor_type = VDIST_SENSOR_RANGE;
}
bool EkfWrapper::isIntendingRangeHeightFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.rng_hgt;
}
void EkfWrapper::setVisionHeight()
{
_ekf_params->vdist_sensor_type = VDIST_SENSOR_EV;
}
bool EkfWrapper::isIntendingVisionHeightFusion() const
{
filter_control_status_u control_status;
_ekf->get_control_mode(&control_status.value);
return control_status.flags.ev_hgt;
}
void EkfWrapper::enableGpsFusion()
{
_ekf_params->fusion_mode |= MASK_USE_GPS;