Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-29 03:36:07 +08:00
Code Issues Actions 10 Packages Projects Releases Wiki Activity

test(ekf2): sync EkfWrapper with FusionControl enabled flags

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
+18
View File
@@ -4,12 +4,27 @@ EkfWrapper::EkfWrapper(std::shared_ptr<Ekf> ekf):
_ekf{ekf} _ekf{ekf}
{ {
_ekf_params = _ekf->getParamHandle(); _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() EkfWrapper::~EkfWrapper()
{ {
} }
void EkfWrapper::setBaroHeightRef() void EkfWrapper::setBaroHeightRef()
{ {
_ekf_params->ekf2_hgt_ref = static_cast<int32_t>(HeightSensor::BARO); _ekf_params->ekf2_hgt_ref = static_cast<int32_t>(HeightSensor::BARO);
@@ -18,6 +33,7 @@ void EkfWrapper::setBaroHeightRef()
void EkfWrapper::enableBaroHeightFusion() void EkfWrapper::enableBaroHeightFusion()
{ {
_ekf_params->ekf2_baro_ctrl = 1; _ekf_params->ekf2_baro_ctrl = 1;
_fc->baro.enabled = true;
} }
void EkfWrapper::disableBaroHeightFusion() void EkfWrapper::disableBaroHeightFusion()
@@ -58,6 +74,7 @@ void EkfWrapper::setRangeHeightRef()
void EkfWrapper::enableRangeHeightFusion() void EkfWrapper::enableRangeHeightFusion()
{ {
_ekf_params->ekf2_rng_ctrl = static_cast<int32_t>(RngCtrl::ENABLED); _ekf_params->ekf2_rng_ctrl = static_cast<int32_t>(RngCtrl::ENABLED);
_fc->rng.enabled = true;
} }
void EkfWrapper::disableRangeHeightFusion() void EkfWrapper::disableRangeHeightFusion()
@@ -148,6 +165,7 @@ bool EkfWrapper::isIntendingGpsHeadingFusion() const
void EkfWrapper::enableFlowFusion() void EkfWrapper::enableFlowFusion()
{ {
_ekf_params->ekf2_of_ctrl = 1; _ekf_params->ekf2_of_ctrl = 1;
_fc->of.enabled = true;
} }
void EkfWrapper::disableFlowFusion() void EkfWrapper::disableFlowFusion()
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
+2 -1
View File
@@ -134,8 +134,9 @@ public:
private: private:
std::shared_ptr<Ekf> _ekf; std::shared_ptr<Ekf> _ekf;
// Pointer to Ekf internal param struct // Pointers to Ekf internal structs
parameters *_ekf_params; parameters *_ekf_params;
FusionControl *_fc;
}; };
#endif // !EKF_EKF_WRAPPER_H #endif // !EKF_EKF_WRAPPER_H