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AP_AHRS: use EKFType enum class in set_ekf_type()

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This commit is contained in:
Andrew Tridgell 2023-12-05 18:40:07 +11:00
parent 757607e4f8
commit 6f79c1cee2
2 changed files with 23 additions and 23 deletions
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6
libraries/AP_AHRS/AP_AHRS.cpp
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@ -220,12 +220,12 @@ void AP_AHRS::init()
} }
#if !HAL_NAVEKF2_AVAILABLE && HAL_NAVEKF3_AVAILABLE #if !HAL_NAVEKF2_AVAILABLE && HAL_NAVEKF3_AVAILABLE
if (_ekf_type.get() == 2) { if (_ekf_type.get() == 2) {
_ekf_type.set(3); _ekf_type.set(EKFType::THREE);
EKF3.set_enable(true); EKF3.set_enable(true);
} }
#elif !HAL_NAVEKF3_AVAILABLE && HAL_NAVEKF2_AVAILABLE #elif !HAL_NAVEKF3_AVAILABLE && HAL_NAVEKF2_AVAILABLE
if (_ekf_type.get() == 3) { if (_ekf_type.get() == 3) {
_ekf_type.set(2); _ekf_type.set(EKFType::TWO);
EKF2.set_enable(true); EKF2.set_enable(true);
} }
#endif #endif
@ -234,7 +234,7 @@ void AP_AHRS::init()
// a special case to catch users who had AHRS_EKF_TYPE=2 saved and // a special case to catch users who had AHRS_EKF_TYPE=2 saved and
// updated to a version where EK2_ENABLE=0 // updated to a version where EK2_ENABLE=0
if (_ekf_type.get() == 2 && !EKF2.get_enable() && EKF3.get_enable()) { if (_ekf_type.get() == 2 && !EKF2.get_enable() && EKF3.get_enable()) {
_ekf_type.set(3); _ekf_type.set(EKFType::THREE);
} }
#endif #endif

40
libraries/AP_AHRS/AP_AHRS.h
View File

@ -421,8 +421,26 @@ public:
return _ekf_type; return _ekf_type;
} }
enum class EKFType : uint8_t {
#if AP_AHRS_DCM_ENABLED
DCM = 0,
#endif
#if HAL_NAVEKF3_AVAILABLE
THREE = 3,
#endif
#if HAL_NAVEKF2_AVAILABLE
TWO = 2,
#endif
#if AP_AHRS_SIM_ENABLED
SIM = 10,
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
EXTERNAL = 11,
#endif
};
// set the selected ekf type, for RC aux control // set the selected ekf type, for RC aux control
void set_ekf_type(uint8_t ahrs_type) { void set_ekf_type(EKFType ahrs_type) {
_ekf_type.set(ahrs_type); _ekf_type.set(ahrs_type);
} }
@ -673,7 +691,7 @@ private:
*/ */
AP_Int8 _wind_max; AP_Int8 _wind_max;
AP_Int8 _board_orientation; AP_Int8 _board_orientation;
AP_Int8 _ekf_type; AP_Enum<EKFType> _ekf_type;
/* /*
* DCM-backend parameters; it takes references to these * DCM-backend parameters; it takes references to these
@ -688,24 +706,6 @@ private:
AP_Enum<GPSUse> _gps_use; AP_Enum<GPSUse> _gps_use;
AP_Int8 _gps_minsats; AP_Int8 _gps_minsats;
enum class EKFType {
#if AP_AHRS_DCM_ENABLED
DCM = 0,
#endif
#if HAL_NAVEKF3_AVAILABLE
THREE = 3,
#endif
#if HAL_NAVEKF2_AVAILABLE
TWO = 2,
#endif
#if AP_AHRS_SIM_ENABLED
SIM = 10,
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
EXTERNAL = 11,
#endif
};
EKFType active_EKF_type(void) const { return state.active_EKF; } EKFType active_EKF_type(void) const { return state.active_EKF; }
bool always_use_EKF() const { bool always_use_EKF() const {