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AP_AHRS: make ekf_type return from enum class

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Eliminate default cases and rely on compiler to enforce all cases
handled in switch statement.  This will be important when we make EKF2
optional.
This commit is contained in:
Peter Barker 2019-12-13 09:45:45 +11:00 committed by Andrew Tridgell
parent 968d8cf7d9
commit 9997cbf203
2 changed files with 270 additions and 230 deletions
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487
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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13
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -272,14 +272,15 @@ public:
bool is_ext_nav_used_for_yaw(void) const;
private:
enum EKF_TYPE {EKF_TYPE_NONE=0,
EKF_TYPE3=3,
EKF_TYPE2=2
enum class EKFType {
NONE = 0,
THREE = 3,
TWO = 2
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
,EKF_TYPE_SITL=10
,SITL = 10
#endif
};
EKF_TYPE active_EKF_type(void) const;
EKFType active_EKF_type(void) const;
bool always_use_EKF() const {
return _ekf_flags & FLAG_ALWAYS_USE_EKF;
@ -303,7 +304,7 @@ private:
uint32_t start_time_ms = 0;
uint8_t _ekf_flags; // bitmask from Flags enumeration
uint8_t ekf_type(void) const;
EKFType ekf_type(void) const;
void update_DCM(bool skip_ins_update);
void update_EKF2(void);
void update_EKF3(void);