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lpe: update _sensorTimeout and _sensorFault to handle support of more sensors

This commit is contained in:
TSC21 2017-11-02 15:42:35 +00:00 committed by Lorenz Meier
parent 392999c2df
commit e6efb5ec0a
2 changed files with 9 additions and 4 deletions
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7
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
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@ -180,14 +180,16 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
// print fusion settings to console
printf("[lpe] fuse gps: %d, flow: %d, vis_pos: %d, "
"vis_yaw: %d, land: %d, pub_agl_z: %d, flow_gyro: %d\n",
"vis_yaw: %d, land: %d, pub_agl_z: %d, flow_gyro: %d, "
"landing_target %d\n",
(_fusion.get() & FUSE_GPS) != 0,
(_fusion.get() & FUSE_FLOW) != 0,
(_fusion.get() & FUSE_VIS_POS) != 0,
(_fusion.get() & FUSE_VIS_YAW) != 0,
(_fusion.get() & FUSE_LAND) != 0,
(_fusion.get() & FUSE_PUB_AGL_Z) != 0,
(_fusion.get() & FUSE_FLOW_GYRO_COMP) != 0);
(_fusion.get() & FUSE_FLOW_GYRO_COMP) != 0,
(_fusion.get() & FUSE_LAND_TARGET) != 0);
}
BlockLocalPositionEstimator::~BlockLocalPositionEstimator()
@ -335,6 +337,7 @@ void BlockLocalPositionEstimator::update()
|| !(_sensorTimeout & SENSOR_VISION)
|| !(_sensorTimeout & SENSOR_MOCAP)
|| !(_sensorTimeout & SENSOR_LAND)
|| !(_sensorTimeout & SENSOR_LAND_TARGET)
) {
_estimatorInitialized |= EST_XY;
}

6
src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
View File

@ -122,6 +122,7 @@ public:
FUSE_PUB_AGL_Z = 1 << 5,
FUSE_FLOW_GYRO_COMP = 1 << 6,
FUSE_BARO = 1 << 7,
FUSE_LAND_TARGET = 1 << 8
};
enum sensor_t {
@ -133,6 +134,7 @@ public:
SENSOR_VISION = 1 << 5,
SENSOR_MOCAP = 1 << 6,
SENSOR_LAND = 1 << 7,
SENSOR_LAND_TARGET = 1 << 8,
};
enum estimate_t {
@ -369,8 +371,8 @@ private:
bool _lastArmedState;
// masks
uint8_t _sensorTimeout;
uint8_t _sensorFault;
uint16_t _sensorTimeout;
uint16_t _sensorFault;
uint8_t _estimatorInitialized;
// state space