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ekf2: sensor_simulator fix enum shadow

This commit is contained in:
Daniel Agar 2022-05-28 22:19:26 -04:00
parent 63155b5b01
commit 095e0f0604
2 changed files with 20 additions and 19 deletions
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36
src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp
View File

@ -48,31 +48,31 @@ void SensorSimulator::loadSensorDataFromFile(std::string file_name)
getline(file, sensor_type, ',');
if (!sensor_type.compare("imu")) {
sensor_sample.sensor_type = sensor_info::IMU;
sensor_sample.sensor_type = sensor_info::measurement_t::IMU;
} else if (!sensor_type.compare("mag")) {
sensor_sample.sensor_type = sensor_info::MAG;
sensor_sample.sensor_type = sensor_info::measurement_t::MAG;
} else if (!sensor_type.compare("baro")) {
sensor_sample.sensor_type = sensor_info::BARO;
sensor_sample.sensor_type = sensor_info::measurement_t::BARO;
} else if (!sensor_type.compare("gps")) {
sensor_sample.sensor_type = sensor_info::GPS;
sensor_sample.sensor_type = sensor_info::measurement_t::GPS;
} else if (!sensor_type.compare("airspeed")) {
sensor_sample.sensor_type = sensor_info::AIRSPEED;
sensor_sample.sensor_type = sensor_info::measurement_t::AIRSPEED;
} else if (!sensor_type.compare("range")) {
sensor_sample.sensor_type = sensor_info::RANGE;
sensor_sample.sensor_type = sensor_info::measurement_t::RANGE;
} else if (!sensor_type.compare("flow")) {
sensor_sample.sensor_type = sensor_info::FLOW;
sensor_sample.sensor_type = sensor_info::measurement_t::FLOW;
} else if (!sensor_type.compare("vio")) {
sensor_sample.sensor_type = sensor_info::VISION;
sensor_sample.sensor_type = sensor_info::measurement_t::VISION;
} else if (!sensor_type.compare("landed")) {
sensor_sample.sensor_type = sensor_info::LANDING_STATUS;
sensor_sample.sensor_type = sensor_info::measurement_t::LANDING_STATUS;
} else {
std::cout << "Sensor type in file unknown" << std::endl;
@ -232,7 +232,7 @@ void SensorSimulator::setSensorDataFromReplayData()
void SensorSimulator::setSingleReplaySample(const sensor_info &sample)
{
if (sample.sensor_type == sensor_info::IMU) {
if (sample.sensor_type == sensor_info::measurement_t::IMU) {
Vector3f accel{(float) sample.sensor_data[0],
(float) sample.sensor_data[1],
(float) sample.sensor_data[2]};
@ -241,16 +241,16 @@ void SensorSimulator::setSingleReplaySample(const sensor_info &sample)
(float) sample.sensor_data[5]};
_imu.setData(accel, gyro);
} else if (sample.sensor_type == sensor_info::MAG) {
} else if (sample.sensor_type == sensor_info::measurement_t::MAG) {
Vector3f mag{(float) sample.sensor_data[0],
(float) sample.sensor_data[1],
(float) sample.sensor_data[2]};
_mag.setData(mag);
} else if (sample.sensor_type == sensor_info::BARO) {
} else if (sample.sensor_type == sensor_info::measurement_t::BARO) {
_baro.setData((float) sample.sensor_data[0]);
} else if (sample.sensor_type == sensor_info::GPS) {
} else if (sample.sensor_type == sensor_info::measurement_t::GPS) {
_gps.setAltitude((int32_t) sample.sensor_data[0]);
_gps.setLatitude((int32_t) sample.sensor_data[1]);
_gps.setLongitude((int32_t) sample.sensor_data[2]);
@ -258,13 +258,13 @@ void SensorSimulator::setSingleReplaySample(const sensor_info &sample)
(float) sample.sensor_data[4],
(float) sample.sensor_data[5]));
} else if (sample.sensor_type == sensor_info::AIRSPEED) {
} else if (sample.sensor_type == sensor_info::measurement_t::AIRSPEED) {
_airspeed.setData((float) sample.sensor_data[0], (float) sample.sensor_data[1]);
} else if (sample.sensor_type == sensor_info::RANGE) {
} else if (sample.sensor_type == sensor_info::measurement_t::RANGE) {
_rng.setData((float) sample.sensor_data[0], (float) sample.sensor_data[1]);
} else if (sample.sensor_type == sensor_info::FLOW) {
} else if (sample.sensor_type == sensor_info::measurement_t::FLOW) {
flowSample flow_sample;
flow_sample.flow_xy_rad = Vector2f(sample.sensor_data[0],
sample.sensor_data[1]);
@ -274,7 +274,7 @@ void SensorSimulator::setSingleReplaySample(const sensor_info &sample)
flow_sample.quality = sample.sensor_data[5];
_flow.setData(flow_sample);
} else if (sample.sensor_type == sensor_info::VISION) {
} else if (sample.sensor_type == sensor_info::measurement_t::VISION) {
// sensor not yet implemented
// extVisionSample vision_sample;
@ -283,7 +283,7 @@ void SensorSimulator::setSingleReplaySample(const sensor_info &sample)
// vision_sample.vel;
// _vio.setData((float) sample.sensor_data[0], (float) sample.sensor_data[1]);
} else if (sample.sensor_type == sensor_info::LANDING_STATUS) {
} else if (sample.sensor_type == sensor_info::measurement_t::LANDING_STATUS) {
bool landed = std::abs(sample.sensor_data[0]) <= 0;
_ekf->set_in_air_status(!landed);

3
src/modules/ekf2/test/sensor_simulator/sensor_simulator.h
View File

@ -65,7 +65,8 @@ using namespace sensor_simulator::sensor;
struct sensor_info {
uint64_t timestamp{};
enum measurement_t {IMU, MAG, BARO, GPS, AIRSPEED, RANGE, FLOW, VISION, LANDING_STATUS} sensor_type = IMU;
enum class measurement_t {IMU, MAG, BARO, GPS, AIRSPEED, RANGE, FLOW, VISION, LANDING_STATUS} sensor_type =
measurement_t::IMU;
std::array<double, 10> sensor_data{};
};