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AP_NavEKF: define SourceSetSelection enum class and use it for clarity

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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
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6
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
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@ -148,11 +148,11 @@ AP_NavEKF_Source::AP_NavEKF_Source()
} }
// set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary // 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 // sanity check source idx
if (source_set_idx < AP_NAKEKF_SOURCE_SET_MAX) { if ((uint8_t)source_set_idx < AP_NAKEKF_SOURCE_SET_MAX) {
active_source_set = source_set_idx; active_source_set = (uint8_t)source_set_idx;
#if HAL_LOGGING_ENABLED #if HAL_LOGGING_ENABLED
static const LogEvent evt[AP_NAKEKF_SOURCE_SET_MAX] { static const LogEvent evt[AP_NAKEKF_SOURCE_SET_MAX] {
LogEvent::EK3_SOURCES_SET_TO_PRIMARY, LogEvent::EK3_SOURCES_SET_TO_PRIMARY,

8
libraries/AP_NavEKF/AP_NavEKF_Source.h
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@ -51,6 +51,12 @@ public:
ALIGN_EXTNAV_POS_WHEN_USING_OPTFLOW = (1 << 1) // align position of inactive sources to ahrs when using optical flow 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 // initialisation
void init(); void init();
@ -59,7 +65,7 @@ public:
SourceZ getPosZSource() const; SourceZ getPosZSource() const;
// set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary // 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; } uint8_t getPosVelYawSourceSet() const { return active_source_set; }
// get/set velocity source // get/set velocity source