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AP_AHRS: use a switch statement when falling back to DCM

This commit is contained in:
Peter Barker 2024-01-12 13:51:47 +11:00 committed by Andrew Tridgell
parent a77df87b01
commit 18c5daaa38
1 changed files with 16 additions and 13 deletions
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29
libraries/AP_AHRS/AP_AHRS.cpp
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@ -1932,35 +1932,38 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
#if AP_AHRS_DCM_ENABLED
// Handle fallback for fixed wing planes (including VTOL's) and ground vehicles.
if (ret != EKFType::DCM &&
(_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND)) {
if (_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND) {
bool should_use_gps = true;
nav_filter_status filt_state;
nav_filter_status filt_state {};
switch (ret) {
case EKFType::DCM:
// already using DCM
break;
#if HAL_NAVEKF2_AVAILABLE
if (ret == EKFType::TWO) {
case EKFType::TWO:
EKF2.getFilterStatus(filt_state);
should_use_gps = EKF2.configuredToUseGPSForPosXY();
}
break;
#endif
#if HAL_NAVEKF3_AVAILABLE
if (ret == EKFType::THREE) {
case EKFType::THREE:
EKF3.getFilterStatus(filt_state);
should_use_gps = EKF3.configuredToUseGPSForPosXY();
}
break;
#endif
#if AP_AHRS_SIM_ENABLED
if (ret == EKFType::SIM) {
case EKFType::SIM:
get_filter_status(filt_state);
}
break;
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
if (ret == EKFType::EXTERNAL) {
case EKFType::EXTERNAL:
get_filter_status(filt_state);
should_use_gps = true;
}
break;
#endif
}
// Handle fallback for the case where the DCM or EKF is unable to provide attitude or height data.
const bool can_use_dcm = dcm.yaw_source_available() || fly_forward;