forked from Archive/PX4-Autopilot
EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers
Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>
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@ -2568,11 +2568,12 @@ int EKF2::task_spawn(int argc, char *argv[])
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// ekf selector requires SENS_IMU_MODE = 0
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multi_mode = true;
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// IMUs (1 - 4 supported)
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// IMUs (1 - MAX_NUM_IMUS supported)
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param_get(param_find("EKF2_MULTI_IMU"), &imu_instances);
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if (imu_instances < 1 || imu_instances > 4) {
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const int32_t imu_instances_limited = math::constrain(imu_instances, static_cast<int32_t>(1), static_cast<int32_t>(4));
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if (imu_instances < 1 || imu_instances > MAX_NUM_IMUS) {
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const int32_t imu_instances_limited = math::constrain(imu_instances, static_cast<int32_t>(1),
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static_cast<int32_t>(MAX_NUM_IMUS));
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PX4_WARN("EKF2_MULTI_IMU limited %" PRId32 " -> %" PRId32, imu_instances, imu_instances_limited);
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param_set_no_notification(param_find("EKF2_MULTI_IMU"), &imu_instances_limited);
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imu_instances = imu_instances_limited;
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@ -2586,9 +2587,10 @@ int EKF2::task_spawn(int argc, char *argv[])
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const param_t param_ekf2_mult_mag = param_find("EKF2_MULTI_MAG");
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param_get(param_ekf2_mult_mag, &mag_instances);
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// Mags (1 - 4 supported)
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if (mag_instances > 4) {
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const int32_t mag_instances_limited = math::constrain(mag_instances, static_cast<int32_t>(1), static_cast<int32_t>(4));
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// Mags (1 - MAX_NUM_MAGS supported)
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if (mag_instances > MAX_NUM_MAGS) {
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const int32_t mag_instances_limited = math::constrain(mag_instances, static_cast<int32_t>(1),
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static_cast<int32_t>(MAX_NUM_MAGS));
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PX4_WARN("EKF2_MULTI_MAG limited %" PRId32 " -> %" PRId32, mag_instances, mag_instances_limited);
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param_set_no_notification(param_ekf2_mult_mag, &mag_instances_limited);
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mag_instances = mag_instances_limited;
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