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AP_NavEKF3: add an option_is_enabled method

This commit is contained in:
Peter Barker 2024-10-17 22:51:58 +11:00 committed by Andrew Tridgell
parent 601d9ef430
commit 1e17278bda
2 changed files with 5 additions and 2 deletions
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5
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -453,9 +453,12 @@ private:
AP_Int32 _options; // bit mask of processing options AP_Int32 _options; // bit mask of processing options
// enum for processing options // enum for processing options
enum class Options { enum class Option {
JammingExpected = (1<<0), JammingExpected = (1<<0),
}; };
bool option_is_enabled(Option option) const {
return (_options & (uint32_t)option) != 0;
}
// Possible values for _flowUse // Possible values for _flowUse
#define FLOW_USE_NONE 0 #define FLOW_USE_NONE 0

2
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -638,7 +638,7 @@ void NavEKF3_core::readGpsData()
useGpsVertVel = false; useGpsVertVel = false;
} }
if ((frontend->_options & (int32_t)NavEKF3::Options::JammingExpected) && if (frontend->option_is_enabled(NavEKF3::Option::JammingExpected) &&
(lastTimeGpsReceived_ms - secondLastGpsTime_ms) > frontend->gpsNoFixTimeout_ms) { (lastTimeGpsReceived_ms - secondLastGpsTime_ms) > frontend->gpsNoFixTimeout_ms) {
const bool doingBodyVelNav = (imuSampleTime_ms - prevBodyVelFuseTime_ms < 1000); const bool doingBodyVelNav = (imuSampleTime_ms - prevBodyVelFuseTime_ms < 1000);
const bool doingFlowNav = (imuSampleTime_ms - prevFlowFuseTime_ms < 1000);; const bool doingFlowNav = (imuSampleTime_ms - prevFlowFuseTime_ms < 1000);;