forked from Archive/PX4-Autopilot
efk2: Force external vision vertical position if EKF2_HGT_REF=VISION
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
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3fac85369e
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b79578fa55
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@ -710,6 +710,18 @@ void EKF2::VerifyParams()
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"GPS enabled by EKF2_HGT_REF", _param_ekf2_gps_ctrl.get());
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}
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if ((_param_ekf2_hgt_ref.get() == HeightSensor::EV)
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&& !(_param_ekf2_ev_ctrl.get() & static_cast<int32_t>(EvCtrl::VPOS))) {
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_param_ekf2_ev_ctrl.set(_param_ekf2_ev_ctrl.get() | static_cast<int32_t>(EvCtrl::VPOS));
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_param_ekf2_ev_ctrl.commit();
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mavlink_log_critical(&_mavlink_log_pub, "EV vertical position enabled by EKF2_HGT_REF\n");
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/* EVENT
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* @description <param>EKF2_EV_CTRL</param> is set to {1:.0}.
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*/
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events::send<float>(events::ID("ekf2_hgt_ref_ev"), events::Log::Warning,
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"EV vertical position enabled by EKF2_HGT_REF", _param_ekf2_ev_ctrl.get());
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}
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// EV EKF2_AID_MASK -> EKF2_EV_CTRL
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if ((_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_VEL)
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|| (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_USE_EXT_VIS_POS)
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