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AP_NavEKF2: rename HGT_SOURCE_EV to HGT_SOURCE_EXTNAV

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presumably EV stands for ExternalVision but we normally refer to this source as External Nav
This commit is contained in:
Randy Mackay 2020-04-18 11:03:57 +09:00
parent 014c889ceb
commit 43c9e13372
2 changed files with 9 additions and 9 deletions
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8
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -345,7 +345,7 @@ void NavEKF2_core::SelectVelPosFusion()
} else if (extNavDataToFuse && PV_AidingMode == AID_ABSOLUTE) { } else if (extNavDataToFuse && PV_AidingMode == AID_ABSOLUTE) {
// This is a special case that uses and external nav system for position // This is a special case that uses and external nav system for position
extNavUsedForPos = true; extNavUsedForPos = true;
activeHgtSource = HGT_SOURCE_EV; activeHgtSource = HGT_SOURCE_EXTNAV;
fuseVelData = false; fuseVelData = false;
fuseHgtData = true; fuseHgtData = true;
fusePosData = true; fusePosData = true;
@ -875,7 +875,7 @@ void NavEKF2_core::selectHeightForFusion()
// select height source // select height source
if (extNavUsedForPos) { if (extNavUsedForPos) {
// always use external vision as the height source if using for position. // always use external vision as the height source if using for position.
activeHgtSource = HGT_SOURCE_EV; activeHgtSource = HGT_SOURCE_EXTNAV;
} else if (_rng && ((frontend->_useRngSwHgt > 0) && (frontend->_altSource == 1)) && (imuSampleTime_ms - rngValidMeaTime_ms < 500)) { } else if (_rng && ((frontend->_useRngSwHgt > 0) && (frontend->_altSource == 1)) && (imuSampleTime_ms - rngValidMeaTime_ms < 500)) {
if (frontend->_altSource == 1) { if (frontend->_altSource == 1) {
// always use range finder // always use range finder
@ -922,7 +922,7 @@ void NavEKF2_core::selectHeightForFusion()
// Use Baro alt as a fallback if we lose range finder, GPS or external nav // Use Baro alt as a fallback if we lose range finder, GPS or external nav
bool lostRngHgt = ((activeHgtSource == HGT_SOURCE_RNG) && ((imuSampleTime_ms - rngValidMeaTime_ms) > 500)); bool lostRngHgt = ((activeHgtSource == HGT_SOURCE_RNG) && ((imuSampleTime_ms - rngValidMeaTime_ms) > 500));
bool lostGpsHgt = ((activeHgtSource == HGT_SOURCE_GPS) && ((imuSampleTime_ms - lastTimeGpsReceived_ms) > 2000)); bool lostGpsHgt = ((activeHgtSource == HGT_SOURCE_GPS) && ((imuSampleTime_ms - lastTimeGpsReceived_ms) > 2000));
bool lostExtNavHgt = ((activeHgtSource == HGT_SOURCE_EV) && ((imuSampleTime_ms - extNavMeasTime_ms) > 2000)); bool lostExtNavHgt = ((activeHgtSource == HGT_SOURCE_EXTNAV) && ((imuSampleTime_ms - extNavMeasTime_ms) > 2000));
if (lostRngHgt || lostGpsHgt || lostExtNavHgt) { if (lostRngHgt || lostGpsHgt || lostExtNavHgt) {
activeHgtSource = HGT_SOURCE_BARO; activeHgtSource = HGT_SOURCE_BARO;
} }
@ -954,7 +954,7 @@ void NavEKF2_core::selectHeightForFusion()
} }
// Select the height measurement source // Select the height measurement source
if (extNavDataToFuse && (activeHgtSource == HGT_SOURCE_EV)) { if (extNavDataToFuse && (activeHgtSource == HGT_SOURCE_EXTNAV)) {
hgtMea = -extNavDataDelayed.pos.z; hgtMea = -extNavDataDelayed.pos.z;
posDownObsNoise = sq(constrain_float(extNavDataDelayed.posErr, 0.01f, 10.0f)); posDownObsNoise = sq(constrain_float(extNavDataDelayed.posErr, 0.01f, 10.0f));
} else if (rangeDataToFuse && (activeHgtSource == HGT_SOURCE_RNG)) { } else if (rangeDataToFuse && (activeHgtSource == HGT_SOURCE_RNG)) {

2
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -50,7 +50,7 @@
#define HGT_SOURCE_RNG 1 #define HGT_SOURCE_RNG 1
#define HGT_SOURCE_GPS 2 #define HGT_SOURCE_GPS 2
#define HGT_SOURCE_BCN 3 #define HGT_SOURCE_BCN 3
#define HGT_SOURCE_EV 4 #define HGT_SOURCE_EXTNAV 4
// target EKF update time step // target EKF update time step
#define EKF_TARGET_DT 0.01f #define EKF_TARGET_DT 0.01f