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AC_PrecLand: use enum-class for EstimatorType

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And remove accessor for same
This commit is contained in:
Peter Barker 2021-04-14 13:02:22 +10:00 committed by Andrew Tridgell
parent d9144ab47c
commit 1ad9542df3
2 changed files with 8 additions and 11 deletions
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8
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -279,8 +279,8 @@ void AC_PrecLand::run_estimator(float rangefinder_alt_m, bool rangefinder_alt_va
{
const struct inertial_data_frame_s *inertial_data_delayed = (*_inertial_history)[0];
switch (_estimator_type) {
case ESTIMATOR_TYPE_RAW_SENSOR: {
switch ((EstimatorType)_estimator_type.get()) {
case EstimatorType::RAW_SENSOR: {
// Return if there's any invalid velocity data
for (uint8_t i=0; i<_inertial_history->available(); i++) {
const struct inertial_data_frame_s *inertial_data = (*_inertial_history)[i];
@ -315,7 +315,7 @@ void AC_PrecLand::run_estimator(float rangefinder_alt_m, bool rangefinder_alt_va
}
break;
}
case ESTIMATOR_TYPE_KALMAN_FILTER: {
case EstimatorType::KALMAN_FILTER: {
// Predict
if (target_acquired()) {
const float& dt = inertial_data_delayed->dt;
@ -490,7 +490,7 @@ void AC_PrecLand::Write_Precland()
meas_z : target_pos_meas.z,
last_meas : last_backend_los_meas_ms(),
ekf_outcount : ekf_outlier_count(),
estimator : estimator_type()
estimator : (uint8_t)_estimator_type
};
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}

11
libraries/AC_PrecLand/AC_PrecLand.h
View File

@ -61,9 +61,6 @@ public:
// returns time of last time target was seen
uint32_t last_backend_los_meas_ms() const { return _last_backend_los_meas_ms; }
// returns estimator type
uint8_t estimator_type() const { return _estimator_type; }
// returns ekf outlier count
uint32_t ekf_outlier_count() const { return _outlier_reject_count; }
@ -92,9 +89,9 @@ public:
static const struct AP_Param::GroupInfo var_info[];
private:
enum estimator_type_t {
ESTIMATOR_TYPE_RAW_SENSOR = 0,
ESTIMATOR_TYPE_KALMAN_FILTER = 1
enum class EstimatorType : uint8_t {
RAW_SENSOR = 0,
KALMAN_FILTER = 1,
};
// returns enabled parameter as an behaviour
@ -117,7 +114,7 @@ private:
AP_Int8 _enabled; // enabled/disabled and behaviour
AP_Int8 _type; // precision landing sensor type
AP_Int8 _bus; // which sensor bus
AP_Int8 _estimator_type; // precision landing estimator type
AP_Enum<EstimatorType> _estimator_type; // precision landing estimator type
AP_Float _lag; // sensor lag in seconds
AP_Float _yaw_align; // Yaw angle from body x-axis to sensor x-axis.
AP_Float _land_ofs_cm_x; // Desired landing position of the camera forward of the target in vehicle body frame