Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: define SourceSetSelection enum class and use it for clarity

This commit is contained in:
Tatsuya Yamaguchi 2024-09-05 11:11:12 +10:00 committed by Peter Barker
parent 96fe3da083
commit 23ce7cc416
2 changed files with 10 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
View File

@ -148,11 +148,11 @@ AP_NavEKF_Source::AP_NavEKF_Source()
}
// set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
void AP_NavEKF_Source::setPosVelYawSourceSet(uint8_t source_set_idx)
void AP_NavEKF_Source::setPosVelYawSourceSet(AP_NavEKF_Source::SourceSetSelection source_set_idx)
{
// sanity check source idx
if (source_set_idx < AP_NAKEKF_SOURCE_SET_MAX) {
active_source_set = source_set_idx;
if ((uint8_t)source_set_idx < AP_NAKEKF_SOURCE_SET_MAX) {
active_source_set = (uint8_t)source_set_idx;
#if HAL_LOGGING_ENABLED
static const LogEvent evt[AP_NAKEKF_SOURCE_SET_MAX] {
LogEvent::EK3_SOURCES_SET_TO_PRIMARY,

8
libraries/AP_NavEKF/AP_NavEKF_Source.h
View File

@ -51,6 +51,12 @@ public:
ALIGN_EXTNAV_POS_WHEN_USING_OPTFLOW = (1 << 1) // align position of inactive sources to ahrs when using optical flow
};
enum class SourceSetSelection : uint8_t {
PRIMARY = 0,
SECONDARY = 1,
TERTIARY = 2,
};
// initialisation
void init();
@ -59,7 +65,7 @@ public:
SourceZ getPosZSource() const;
// set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
void setPosVelYawSourceSet(uint8_t source_set_idx);
void setPosVelYawSourceSet(SourceSetSelection source_set_idx);
uint8_t getPosVelYawSourceSet() const { return active_source_set; }
// get/set velocity source