ardupilot/libraries/AP_NavEKF/AP_NavEKF_Source.h

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#pragma once
#include <AP_Param/AP_Param.h>
#define AP_NAKEKF_SOURCE_SET_MAX 3 // three sets of sources
class AP_NavEKF_Source
{
public:
// Constructor
AP_NavEKF_Source();
/* Do not allow copies */
AP_NavEKF_Source(const AP_NavEKF_Source &other) = delete;
AP_NavEKF_Source &operator=(const AP_NavEKF_Source&) = delete;
enum class SourceXY : uint8_t {
NONE = 0,
// BARO = 1 (not applicable)
// RANGEFINDER = 2 (not applicable)
GPS = 3,
BEACON = 4,
OPTFLOW = 5,
EXTNAV = 6,
WHEEL_ENCODER = 7
};
enum class SourceZ : uint8_t {
NONE = 0,
BARO = 1,
RANGEFINDER = 2,
GPS = 3,
BEACON = 4,
// OPTFLOW = 5 (not applicable, optical flow can be used for terrain alt but not relative or absolute alt)
EXTNAV = 6
// WHEEL_ENCODER = 7 (not applicable)
};
enum class SourceYaw : uint8_t {
NONE = 0,
COMPASS = 1,
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GPS = 2,
GPS_COMPASS_FALLBACK = 3,
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EXTNAV = 6,
GSF = 8
};
// enum for OPTIONS parameter
enum class SourceOptions {
FUSE_ALL_VELOCITIES = (1 << 0) // fuse all velocities configured in source sets
};
// initialisation
void init();
// get current position source
SourceXY getPosXYSource() const { return _source_set[active_source_set].posxy; }
SourceZ getPosZSource() const { return _source_set[active_source_set].posz; }
// set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
void setPosVelYawSourceSet(uint8_t source_set_idx);
uint8_t getPosVelYawSourceSet() const { return active_source_set; }
// get/set velocity source
SourceXY getVelXYSource() const { return _source_set[active_source_set].velxy; }
SourceZ getVelZSource() const { return _source_set[active_source_set].velz; }
// true/false of whether velocity source should be used
bool useVelXYSource(SourceXY velxy_source) const;
bool useVelZSource(SourceZ velz_source) const;
// true if a velocity source is configured
bool haveVelZSource() const;
// get yaw source
SourceYaw getYawSource() const;
// align position of inactive sources to ahrs
void align_inactive_sources();
// sensor-specific helper functions
// true if any source is GPS
bool usingGPS() const;
// true if source parameters have been configured (used for parameter conversion)
bool configured_in_storage();
// mark parameters as configured in storage (used to ensure parameter conversion is only done once)
void mark_configured_in_storage();
// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
// requires_position should be true if horizontal position configuration should be checked
bool pre_arm_check(bool requires_position, char *failure_msg, uint8_t failure_msg_len) const;
// return true if ext nav is enabled on any source
bool ext_nav_enabled(void) const;
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// return true if GPS yaw is enabled on any source
bool gps_yaw_enabled(void) const;
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// return true if wheel encoder is enabled on any source
bool wheel_encoder_enabled(void) const;
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static const struct AP_Param::GroupInfo var_info[];
private:
// Parameters
struct SourceSet {
AP_Enum<SourceXY> posxy; // xy position source
AP_Enum<SourceXY> velxy; // xy velocity source
AP_Enum<SourceZ> posz; // position z (aka altitude or height) source
AP_Enum<SourceZ> velz; // velocity z source
AP_Enum<SourceYaw> yaw; // yaw source
} _source_set[AP_NAKEKF_SOURCE_SET_MAX];
AP_Int16 _options; // source options bitmask
uint8_t active_source_set; // index of active source set
bool config_in_storage; // true once configured in storage has returned true
};