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ekf2: replace macro constants by typed constexpr

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bresch 2022-11-09 11:12:33 +01:00 committed by Daniel Agar
parent 06702da003
commit 7d1f1d0f84
1 changed files with 8 additions and 8 deletions
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16
src/modules/ekf2/EKF/common.h
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@ -66,18 +66,18 @@ using math::Utilities::sq;
using math::Utilities::updateYawInRotMat;
// maximum sensor intervals in usec
#define BARO_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between pressure altitude measurements (uSec)
#define EV_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between external vision system measurements (uSec)
#define GNSS_MAX_INTERVAL (uint64_t)5e5 ///< Maximum allowable time interval between GNSS measurements (uSec)
#define GNSS_YAW_MAX_INTERVAL (uint64_t)15e5 ///< Maximum allowable time interval between GNSS yaw measurements (uSec)
#define RNG_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between range finder measurements (uSec)
static constexpr uint64_t BARO_MAX_INTERVAL = 200e3; ///< Maximum allowable time interval between pressure altitude measurements (uSec)
static constexpr uint64_t EV_MAX_INTERVAL = 200e3; ///< Maximum allowable time interval between external vision system measurements (uSec)
static constexpr uint64_t GNSS_MAX_INTERVAL = 500e3; ///< Maximum allowable time interval between GNSS measurements (uSec)
static constexpr uint64_t GNSS_YAW_MAX_INTERVAL = 1500e3; ///< Maximum allowable time interval between GNSS yaw measurements (uSec)
static constexpr uint64_t RNG_MAX_INTERVAL = 200e3; ///< Maximum allowable time interval between range finder measurements (uSec)
// bad accelerometer detection and mitigation
#define BADACC_PROBATION (uint64_t)10e6 ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
#define BADACC_BIAS_PNOISE 4.9f ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2)
static constexpr uint64_t BADACC_PROBATION = 10e6; ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
static constexpr float BADACC_BIAS_PNOISE = 4.9f; ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2)
// ground effect compensation
#define GNDEFFECT_TIMEOUT 10E6 ///< Maximum period of time that ground effect protection will be active after it was last turned on (uSec)
static constexpr uint64_t GNDEFFECT_TIMEOUT = 10e6; ///< Maximum period of time that ground effect protection will be active after it was last turned on (uSec)
enum class VelocityFrame : uint8_t {
LOCAL_FRAME_NED = 0,