Mirrors_Framework/PX4-Autopilot
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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/EKF2.cpp
+6 -6
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@@ -308,7 +308,7 @@ void EKF2::Run()
}
// if using mag ensure sensor interval minimum is sufficient to accommodate system averaged mag output
if (_params->mag_fusion_type != MAG_FUSE_TYPE_NONE) {
if (_params->mag_fusion_type != MagFuseType::NONE) {
float sens_mag_rate = 0.f;
if (param_get(param_find("SENS_MAG_RATE"), &sens_mag_rate) == PX4_OK) {
@@ -1153,7 +1153,7 @@ void EKF2::PublishSensorBias(const hrt_abstime &timestamp)
_last_gyro_bias_published = gyro_bias;
}
if ((_device_id_accel != 0) && !(_param_ekf2_aid_mask.get() & MASK_INHIBIT_ACC_BIAS)) {
if ((_device_id_accel != 0) && !(_param_ekf2_aid_mask.get() & SensorFusionMask::INHIBIT_ACC_BIAS)) {
bias.accel_device_id = _device_id_accel;
accel_bias.copyTo(bias.accel_bias);
bias.accel_bias_limit = _params->acc_bias_lim;
@@ -1596,10 +1596,10 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
ev_data.vel(2) = ev_odom.vz;
if (ev_odom.velocity_frame == vehicle_odometry_s::BODY_FRAME_FRD) {
ev_data.vel_frame = velocity_frame_t::BODY_FRAME_FRD;
ev_data.vel_frame = VelocityFrame::BODY_FRAME_FRD;
} else {
ev_data.vel_frame = velocity_frame_t::LOCAL_FRAME_FRD;
ev_data.vel_frame = VelocityFrame::LOCAL_FRAME_FRD;
}
// velocity measurement error from ev_data or parameters
@@ -1735,7 +1735,7 @@ void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
perf_count(_msg_missed_gps_perf);
}
gps_message gps_msg{
gpsMessage gps_msg{
.time_usec = vehicle_gps_position.timestamp,
.lat = vehicle_gps_position.lat,
.lon = vehicle_gps_position.lon,
@@ -1878,7 +1878,7 @@ void EKF2::UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps)
void EKF2::UpdateAccelCalibration(const hrt_abstime &timestamp)
{
if (_param_ekf2_aid_mask.get() & MASK_INHIBIT_ACC_BIAS) {
if (_param_ekf2_aid_mask.get() & SensorFusionMask::INHIBIT_ACC_BIAS) {
_accel_cal.cal_available = false;
return;
}