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AP_NavEKF: Make the status unions use bool, add static asserts

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Michael du Breuil 2018-04-10 02:26:52 -07:00 committed by Randy Mackay
parent 37df0c20eb
commit ac9d5f8a5c
1 changed files with 30 additions and 26 deletions
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56
libraries/AP_NavEKF/AP_Nav_Common.h
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@ -18,42 +18,46 @@
union nav_filter_status { union nav_filter_status {
struct { struct {
uint16_t attitude : 1; // 0 - true if attitude estimate is valid bool attitude : 1; // 0 - true if attitude estimate is valid
uint16_t horiz_vel : 1; // 1 - true if horizontal velocity estimate is valid bool horiz_vel : 1; // 1 - true if horizontal velocity estimate is valid
uint16_t vert_vel : 1; // 2 - true if the vertical velocity estimate is valid bool vert_vel : 1; // 2 - true if the vertical velocity estimate is valid
uint16_t horiz_pos_rel : 1; // 3 - true if the relative horizontal position estimate is valid bool horiz_pos_rel : 1; // 3 - true if the relative horizontal position estimate is valid
uint16_t horiz_pos_abs : 1; // 4 - true if the absolute horizontal position estimate is valid bool horiz_pos_abs : 1; // 4 - true if the absolute horizontal position estimate is valid
uint16_t vert_pos : 1; // 5 - true if the vertical position estimate is valid bool vert_pos : 1; // 5 - true if the vertical position estimate is valid
uint16_t terrain_alt : 1; // 6 - true if the terrain height estimate is valid bool terrain_alt : 1; // 6 - true if the terrain height estimate is valid
uint16_t const_pos_mode : 1; // 7 - true if we are in const position mode bool const_pos_mode : 1; // 7 - true if we are in const position mode
uint16_t pred_horiz_pos_rel : 1; // 8 - true if filter expects it can produce a good relative horizontal position estimate - used before takeoff bool pred_horiz_pos_rel : 1; // 8 - true if filter expects it can produce a good relative horizontal position estimate - used before takeoff
uint16_t pred_horiz_pos_abs : 1; // 9 - true if filter expects it can produce a good absolute horizontal position estimate - used before takeoff bool pred_horiz_pos_abs : 1; // 9 - true if filter expects it can produce a good absolute horizontal position estimate - used before takeoff
uint16_t takeoff_detected : 1; // 10 - true if optical flow takeoff has been detected bool takeoff_detected : 1; // 10 - true if optical flow takeoff has been detected
uint16_t takeoff : 1; // 11 - true if filter is compensating for baro errors during takeoff bool takeoff : 1; // 11 - true if filter is compensating for baro errors during takeoff
uint16_t touchdown : 1; // 12 - true if filter is compensating for baro errors during touchdown bool touchdown : 1; // 12 - true if filter is compensating for baro errors during touchdown
uint16_t using_gps : 1; // 13 - true if we are using GPS position bool using_gps : 1; // 13 - true if we are using GPS position
uint16_t gps_glitching : 1; // 14 - true if GPS glitching is affecting navigation accuracy bool gps_glitching : 1; // 14 - true if GPS glitching is affecting navigation accuracy
} flags; } flags;
uint16_t value; uint16_t value;
}; };
static_assert(sizeof(uint16_t) == sizeof(nav_filter_status), "nav_filter_status must be uint16_t");
union nav_gps_status { union nav_gps_status {
struct { struct {
uint16_t bad_sAcc : 1; // 0 - true if reported gps speed accuracy is insufficient to start using GPS bool bad_sAcc : 1; // 0 - true if reported gps speed accuracy is insufficient to start using GPS
uint16_t bad_hAcc : 1; // 1 - true if reported gps horizontal position accuracy is insufficient to start using GPS bool bad_hAcc : 1; // 1 - true if reported gps horizontal position accuracy is insufficient to start using GPS
uint16_t bad_yaw : 1; // 2 - true if EKF yaw errors are too large to start using GPS bool bad_yaw : 1; // 2 - true if EKF yaw errors are too large to start using GPS
uint16_t bad_sats : 1; // 3 - true if the number of satellites is insufficient to start using GPS bool bad_sats : 1; // 3 - true if the number of satellites is insufficient to start using GPS
uint16_t bad_VZ : 1; // 4 - true if the vertical velocity is inconsistent with the inertial/baro bool bad_VZ : 1; // 4 - true if the vertical velocity is inconsistent with the inertial/baro
uint16_t bad_horiz_drift : 1; // 5 - true if the GPS horizontal position is drifting (this check assumes vehicle is static) bool bad_horiz_drift : 1; // 5 - true if the GPS horizontal position is drifting (this check assumes vehicle is static)
uint16_t bad_hdop : 1; // 6 - true if the reported HDoP is insufficient to start using GPS bool bad_hdop : 1; // 6 - true if the reported HDoP is insufficient to start using GPS
uint16_t bad_vert_vel : 1; // 7 - true if the GPS vertical speed is too large to start using GPS (this check assumes vehicle is static) bool bad_vert_vel : 1; // 7 - true if the GPS vertical speed is too large to start using GPS (this check assumes vehicle is static)
uint16_t bad_fix : 1; // 8 - true if the GPS is not providing a 3D fix bool bad_fix : 1; // 8 - true if the GPS is not providing a 3D fix
uint16_t bad_horiz_vel : 1; // 9 - true if the GPS horizontal speed is excessive (this check assumes the vehicle is static) bool bad_horiz_vel : 1; // 9 - true if the GPS horizontal speed is excessive (this check assumes the vehicle is static)
uint16_t bad_vAcc : 1; // 10 - true if reported gps vertical position accuracy is insufficient to start using GPS bool bad_vAcc : 1; // 10 - true if reported gps vertical position accuracy is insufficient to start using GPS
} flags; } flags;
uint16_t value; uint16_t value;
}; };
static_assert(sizeof(uint16_t) == sizeof(nav_gps_status), "nav_gps_status must be uint16_t");
/* /*
structure to hold EKF timing statistics structure to hold EKF timing statistics
*/ */