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test(ekf2): sync EkfWrapper with FusionControl enabled flags

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EkfWrapper now holds a FusionControl pointer and enables all sensors
by default. Sensor-specific enable methods also set fc.enabled = true.
This commit is contained in:
Marco Hauswirth 2026-04-01 16:44:39 +02:00 committed by Marco Hauswirth
parent 6a7e39aa64
commit fffc1b5d04
2 changed files with 20 additions and 1 deletions
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18
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
View File

@ -4,12 +4,27 @@ EkfWrapper::EkfWrapper(std::shared_ptr<Ekf> ekf):
_ekf{ekf}
{
_ekf_params = _ekf->getParamHandle();
_fc = _ekf->getFusionControlHandle();
_fc->gps.enabled = true;
_fc->of.enabled = true;
_fc->ev.enabled = true;
_fc->baro.enabled = true;
_fc->rng.enabled = true;
_fc->mag.enabled = true;
_fc->aspd.enabled = true;
_fc->rngbcn.enabled = true;
for (int i = 0; i < MAX_AGP_INSTANCES; i++) {
_fc->agp[i].enabled = true;
}
}
EkfWrapper::~EkfWrapper()
{
}
void EkfWrapper::setBaroHeightRef()
{
_ekf_params->ekf2_hgt_ref = static_cast<int32_t>(HeightSensor::BARO);
@ -18,6 +33,7 @@ void EkfWrapper::setBaroHeightRef()
void EkfWrapper::enableBaroHeightFusion()
{
_ekf_params->ekf2_baro_ctrl = 1;
_fc->baro.enabled = true;
}
void EkfWrapper::disableBaroHeightFusion()
@ -58,6 +74,7 @@ void EkfWrapper::setRangeHeightRef()
void EkfWrapper::enableRangeHeightFusion()
{
_ekf_params->ekf2_rng_ctrl = static_cast<int32_t>(RngCtrl::ENABLED);
_fc->rng.enabled = true;
}
void EkfWrapper::disableRangeHeightFusion()
@ -148,6 +165,7 @@ bool EkfWrapper::isIntendingGpsHeadingFusion() const
void EkfWrapper::enableFlowFusion()
{
_ekf_params->ekf2_of_ctrl = 1;
_fc->of.enabled = true;
}
void EkfWrapper::disableFlowFusion()

3
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
View File

@ -134,8 +134,9 @@ public:
private:
std::shared_ptr<Ekf> _ekf;
// Pointer to Ekf internal param struct
// Pointers to Ekf internal structs
parameters *_ekf_params;
FusionControl *_fc;
};
#endif // !EKF_EKF_WRAPPER_H