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EKF: use set_and_default when changing IMU mask #26608

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merged 3 commits into from
Mar 26, 2024
Merged

EKF: use set_and_default when changing IMU mask #26608

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2ef7a1e
AP_NavEKF2: use set_and_defualt when changing imu mask
IamPete1 Mar 24, 2024
6e1934a
AP_NavEKF3: use set_and_defualt when changing imu mask
IamPete1 Mar 24, 2024
0569c2b
AP_DAL: Standalone: add int8 parameter set_and_default method to avoi…
IamPete1 Mar 24, 2024
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5 changes: 5 additions & 0 deletions libraries/AP_DAL/examples/AP_DAL_Standalone/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,11 @@

void AP_Param::setup_object_defaults(void const*, AP_Param::GroupInfo const*) {}

template<typename T, ap_var_type PT>
void AP_ParamT<T, PT>::set_and_default(const T &v) {}
template class AP_ParamT<int8_t, AP_PARAM_INT8>;


int AP_HAL::Util::vsnprintf(char*, size_t, char const*, va_list) { return -1; }

void *nologger = nullptr;
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2 changes: 1 addition & 1 deletion libraries/AP_NavEKF2/AP_NavEKF2.cpp
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Expand Up @@ -643,7 +643,7 @@ bool NavEKF2::InitialiseFilter(void)

// don't allow more filters than IMUs
uint8_t mask = (1U<<ins.get_accel_count())-1;
_imuMask.set(_imuMask.get() & mask);
_imuMask.set_and_default(_imuMask.get() & mask);

// count IMUs from mask
num_cores = __builtin_popcount(_imuMask);
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2 changes: 1 addition & 1 deletion libraries/AP_NavEKF3/AP_NavEKF3.cpp
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Expand Up @@ -781,7 +781,7 @@ bool NavEKF3::InitialiseFilter(void)

// don't run multiple filters for 1 IMU
uint8_t mask = (1U<<ins.get_accel_count())-1;
_imuMask.set(_imuMask.get() & mask);
_imuMask.set_and_default(_imuMask.get() & mask);

// initialise the setup variables
for (uint8_t i=0; i<MAX_EKF_CORES; i++) {
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