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AP_NavEKF2: make rngBcnDataToFuse const false if beacon not compiled in

This commit is contained in:
Peter Barker 2022-11-15 16:37:36 +11:00 committed by Peter Barker
parent 81d39677ab
commit f36f387948
2 changed files with 6 additions and 0 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -263,7 +263,9 @@ void NavEKF2_core::InitialiseVariables()
varInnovRngBcn = 0.0f;
innovRngBcn = 0.0f;
memset(&lastTimeRngBcn_ms, 0, sizeof(lastTimeRngBcn_ms));
#if AP_BEACON_ENABLED
rngBcnDataToFuse = false;
#endif
beaconVehiclePosNED.zero();
beaconVehiclePosErr = 1.0f;
rngBcnLast3DmeasTime_ms = 0;

4
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -1019,7 +1019,11 @@ private:
ftype varInnovRngBcn; // range beacon observation innovation variance (m^2)
ftype innovRngBcn; // range beacon observation innovation (m)
uint32_t lastTimeRngBcn_ms[10]; // last time we received a range beacon measurement (msec)
#if AP_BEACON_ENABLED
bool rngBcnDataToFuse; // true when there is new range beacon data to fuse
#else
const bool rngBcnDataToFuse = false; // true when there is new range beacon data to fuse
#endif
Vector3F beaconVehiclePosNED; // NED position estimate from the beacon system (NED)
ftype beaconVehiclePosErr; // estimated position error from the beacon system (m)
uint32_t rngBcnLast3DmeasTime_ms; // last time the beacon system returned a 3D fix (msec)