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Replay: support set source events

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Andrew Tridgell 2022-05-27 21:28:34 +10:00 committed by Peter Barker
parent 74c4f3c9a9
commit 8f2f770e93
1 changed files with 5 additions and 0 deletions
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5
Tools/Replay/LR_MsgHandler.cpp
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@ -71,6 +71,8 @@ void LR_MsgHandler_REV2::process_message(uint8_t *msgbytes)
case AP_DAL::Event::checkLaneSwitch: case AP_DAL::Event::checkLaneSwitch:
ekf2.checkLaneSwitch(); ekf2.checkLaneSwitch();
break; break;
case AP_DAL::Event::setSourceSet0 ... AP_DAL::Event::setSourceSet2:
break;
} }
if (replay_force_ekf3) { if (replay_force_ekf3) {
LR_MsgHandler_REV3 h{f, ekf2, ekf3}; LR_MsgHandler_REV3 h{f, ekf2, ekf3};
@ -128,6 +130,9 @@ void LR_MsgHandler_REV3::process_message(uint8_t *msgbytes)
case AP_DAL::Event::checkLaneSwitch: case AP_DAL::Event::checkLaneSwitch:
ekf3.checkLaneSwitch(); ekf3.checkLaneSwitch();
break; break;
case AP_DAL::Event::setSourceSet0 ... AP_DAL::Event::setSourceSet2:
ekf3.setPosVelYawSourceSet(uint8_t(msg.event)-uint8_t(AP_DAL::Event::setSourceSet0));
break;
} }
if (replay_force_ekf2) { if (replay_force_ekf2) {