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EKF: Make definitions of parameters clearer for external use

This commit is contained in:
Paul Riseborough 2016-03-08 09:16:50 +11:00
parent dd1d58bab5
commit 5acd1cbac4
1 changed files with 6 additions and 8 deletions
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14
EKF/common.h
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@ -122,12 +122,10 @@ struct flowSample {
uint64_t time_us; // timestamp in microseconds of the integration period mid-point
};
enum vdist_sensor_type_t {
VDIST_SENSOR_RANGE,
VDIST_SENSOR_BARO,
VDIST_SENSOR_GPS,
VDIST_SENSOR_NONE
};
// Integer definitions for vdist_sensor_type
#define VDIST_SENSOR_BARO 0 // Use baro height
#define VDIST_SENSOR_GPS 1 // Use GPS height
#define VDIST_SENSOR_RANGE 2 // Use range finder height
// Bit locations for mag_declination_source
#define MASK_USE_GEO_DECL (1<<0) // set to true to use the declination from the geo library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value
@ -146,8 +144,8 @@ enum vdist_sensor_type_t {
struct parameters {
// measurement source control
int fusion_mode;
int vdist_sensor_type;
int fusion_mode; // bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
int vdist_sensor_type; // selects the primary source for height data
// measurement time delays
float mag_delay_ms; // magnetometer measurement delay relative to the IMU (msec)