Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-20 03:13:44 +08:00
Code Issues Actions 19 Packages Projects Releases Wiki Activity

ekf2: remove EKF2_HGT_MODE VerifyParams() transition helpers

Browse Source 
- in theory these are helpful to ensure EKF2_HGT_MODE configuration is
   consistent with the relevant aid source (GPS, baro, etc), but it can
   be a little awkward with users having to fight manual parameter
   changes in the right order
This commit is contained in:
Daniel Agar
2023-11-16 15:02:43 -05:00
committed by GitHub
parent 3b2d766573
commit 62027b0965
1 changed files with 0 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF2.cpp
-76
View File
@@ -819,82 +819,6 @@ void EKF2::Run()
void EKF2::VerifyParams()
{
#if defined(CONFIG_EKF2_GNSS)
if ((_param_ekf2_gps_ctrl.get() & GnssCtrl::VPOS) && !(_param_ekf2_gps_ctrl.get() & GnssCtrl::HPOS)) {
_param_ekf2_gps_ctrl.set(_param_ekf2_gps_ctrl.get() & ~GnssCtrl::VPOS);
_param_ekf2_gps_ctrl.commit();
mavlink_log_critical(&_mavlink_log_pub, "GPS lon/lat is required for altitude fusion\n");
/* EVENT
* @description <param>EKF2_GPS_CTRL</param> is set to {1:.0}.
*/
events::send<float>(events::ID("ekf2_gps_ctrl_alt"), events::Log::Warning,
"GPS lon/lat is required for altitude fusion", _param_ekf2_gps_ctrl.get());
}
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_BAROMETER)
if ((_param_ekf2_hgt_ref.get() == HeightSensor::BARO) && (_param_ekf2_baro_ctrl.get() == 0)) {
_param_ekf2_baro_ctrl.set(1);
_param_ekf2_baro_ctrl.commit();
mavlink_log_critical(&_mavlink_log_pub, "Baro enabled by EKF2_HGT_REF\n");
/* EVENT
* @description <param>EKF2_BARO_CTRL</param> is set to {1:.0}.
*/
events::send<float>(events::ID("ekf2_hgt_ref_baro"), events::Log::Warning,
"Baro enabled by EKF2_HGT_REF", _param_ekf2_baro_ctrl.get());
}
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_RANGE_FINDER)
if ((_param_ekf2_hgt_ref.get() == HeightSensor::RANGE) && (_param_ekf2_rng_ctrl.get() == RngCtrl::DISABLED)) {
_param_ekf2_rng_ctrl.set(1);
_param_ekf2_rng_ctrl.commit();
mavlink_log_critical(&_mavlink_log_pub, "Range enabled by EKF2_HGT_REF\n");
/* EVENT
* @description <param>EKF2_RNG_CTRL</param> is set to {1:.0}.
*/
events::send<float>(events::ID("ekf2_hgt_ref_rng"), events::Log::Warning,
"Range enabled by EKF2_HGT_REF", _param_ekf2_rng_ctrl.get());
}
#endif // CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_GNSS)
if ((_param_ekf2_hgt_ref.get() == HeightSensor::GNSS) && !(_param_ekf2_gps_ctrl.get() & GnssCtrl::VPOS)) {
_param_ekf2_gps_ctrl.set(_param_ekf2_gps_ctrl.get() | (GnssCtrl::VPOS | GnssCtrl::HPOS | GnssCtrl::VEL));
_param_ekf2_gps_ctrl.commit();
mavlink_log_critical(&_mavlink_log_pub, "GPS enabled by EKF2_HGT_REF\n");
/* EVENT
* @description <param>EKF2_GPS_CTRL</param> is set to {1:.0}.
*/
events::send<float>(events::ID("ekf2_hgt_ref_gps"), events::Log::Warning,
"GPS enabled by EKF2_HGT_REF", _param_ekf2_gps_ctrl.get());
}
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if ((_param_ekf2_hgt_ref.get() == HeightSensor::EV)
&& !(_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::VPOS))) {
_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast<int32_t>(EvCtrl::VPOS));
_param_ekf2_ev_ctrl.commit();
mavlink_log_critical(&_mavlink_log_pub, "EV vertical position enabled by EKF2_HGT_REF\n");
/* EVENT
* @description <param>EKF2_EV_CTRL</param> is set to {1:.0}.
*/
events::send<float>(events::ID("ekf2_hgt_ref_ev"), events::Log::Warning,
"EV vertical position enabled by EKF2_HGT_REF", _param_ekf2_ev_ctrl.get());
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_MAGNETOMETER)
// EKF2_MAG_TYPE obsolete options