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ekf2: fix param migration

This commit is contained in:
bresch 2022-08-08 08:06:01 +02:00 committed by Daniel Agar
parent 2d39097f60
commit 20cd599bb7
1 changed files with 3 additions and 16 deletions
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19
src/lib/parameters/param_translation.cpp
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@ -255,24 +255,11 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2022-08-04: migrate EKF2_AID_MASK (GPS) -> EKF2_GPS_CTRL, EKF2_RNG_AID->EKF2_RNG_CTRL and EKF2_HGT_MODE->EKF2_HGT_REF
// 2022-08-04: migrate EKF2_RNG_AID->EKF2_RNG_CTRL and EKF2_HGT_MODE->EKF2_HGT_REF
{
if (strcmp("EKF2_AID_MASK", node->name) == 0) {
int32_t aid_mask = node->i32;
bool lat_lon_en = aid_mask & (1 << 0);
bool yaw_en = aid_mask & (1 << 7);
// automatically set alt and vel aiding if the GPS bit was set in the aid mask
bool alt_en = lat_lon_en;
bool vel_en = lat_lon_en;
strcpy(node->name, "EKF2_GPS_CTRL");
node->i32 = lat_lon_en | (alt_en << 1) | (vel_en << 2) | (yaw_en << 3);
PX4_INFO("param migrating EKF2_AID_MASK (GPS) -> EKF2_GPS_CTRL: value=%d", node->i32);
return true;
}
if (strcmp("EKF2_RNG_AID", node->name) == 0) {
strcpy(node->name, "EKF2_RNG_CTRL");
PX4_INFO("param migrating EKF2_RNG_AID (removed) -> EKF2_RNG_CTRL: value=%d", node->i32);
PX4_INFO("param migrating EKF2_RNG_AID (removed) -> EKF2_RNG_CTRL: value=%" PRId32, node->i32);
return true;
}
@ -285,7 +272,7 @@ bool param_modify_on_import(bson_node_t node)
param_set_no_notification(param_find("EKF2_RNG_CTRL"), &rng_mode);
}
PX4_INFO("param migrating EKF2_HGT_MODE (removed) -> EKF2_HGT_REF: value=%d", node->i32);
PX4_INFO("param migrating EKF2_HGT_MODE (removed) -> EKF2_HGT_REF: value=%" PRId32, node->i32);
return true;
}
}