wip update px4boards

JonasPerolini · Sep 27, 2024 · 1011f1c · 1011f1c
1 parent f3329bf
commit 1011f1c
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Showing 11 changed files with 22 additions and 4 deletions.
diff --git a/boards/px4/fmu-v3/visionTargetEst.px4board b/boards/px4/fmu-v3/visionTargetEst.px4board
@@ -100,6 +100,8 @@ CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 
+# CONFIG_VTEST_MOVING is not set
+
 CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

diff --git a/boards/px4/fmu-v4/visionTargetEst.px4board b/boards/px4/fmu-v4/visionTargetEst.px4board
@@ -100,6 +100,8 @@ CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 
+# CONFIG_VTEST_MOVING is not set
+
 CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

diff --git a/boards/px4/fmu-v4pro/visionTargetEst.px4board b/boards/px4/fmu-v4pro/visionTargetEst.px4board
@@ -96,6 +96,8 @@ CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 
+# CONFIG_VTEST_MOVING is not set
+
 CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

diff --git a/boards/px4/fmu-v5/visionTargetEst.px4board b/boards/px4/fmu-v5/visionTargetEst.px4board
@@ -103,6 +103,8 @@ CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 
+# CONFIG_VTEST_MOVING is not set
+
 CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

diff --git a/boards/px4/fmu-v5x/visionTargetEst.px4board b/boards/px4/fmu-v5x/visionTargetEst.px4board
@@ -107,6 +107,8 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 
+# CONFIG_VTEST_MOVING is not set
+
 CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

diff --git a/boards/px4/fmu-v6c/visionTargetEst.px4board b/boards/px4/fmu-v6c/visionTargetEst.px4board
@@ -84,6 +84,8 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 
+# CONFIG_VTEST_MOVING is not set
+
 CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

diff --git a/boards/px4/fmu-v6u/visionTargetEst.px4board b/boards/px4/fmu-v6u/visionTargetEst.px4board
@@ -92,6 +92,8 @@ CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
 
+# CONFIG_VTEST_MOVING is not set
+
 CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

diff --git a/boards/px4/fmu-v6x/visionTargetEst.px4board b/boards/px4/fmu-v6x/visionTargetEst.px4board
@@ -92,6 +92,8 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 
+# CONFIG_VTEST_MOVING is not set
+
 CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n

diff --git a/src/modules/vision_target_estimator/Orientation/VTEOrientation.cpp b/src/modules/vision_target_estimator/Orientation/VTEOrientation.cpp
@@ -66,11 +66,11 @@ VTEOrientation::~VTEOrientation()
 
 bool VTEOrientation::init()
 {
-
+	// TODO: remove target mode.
 	_target_mode = (TargetMode)_param_vte_mode.get();
 	_vte_TIMEOUT_US = (uint32_t)(_param_vte_btout.get() * 1_s);
 
-	return selectTargetEstimator();
+	return initTargetEstimator();
 }
 
 void VTEOrientation::resetFilter()
@@ -310,7 +310,7 @@ void VTEOrientation::set_range_sensor(const float dist, const bool valid)
 	_range_sensor.last_update = hrt_absolute_time();
 }
 
-bool VTEOrientation::selectTargetEstimator()
+bool VTEOrientation::initTargetEstimator()
 {
 	Base_KF_orientation *tmp_theta = nullptr;
 

diff --git a/src/modules/vision_target_estimator/Orientation/VTEOrientation.h b/src/modules/vision_target_estimator/Orientation/VTEOrientation.h
@@ -137,7 +137,7 @@ class VTEOrientation: public ModuleParams
 		matrix::Vector2f meas_h_theta;
 	};
 
-	bool selectTargetEstimator();
+	bool initTargetEstimator();
 	bool initEstimator(const float theta_init);
 	bool update_step();
 	void predictionStep();

diff --git a/src/modules/vision_target_estimator/vision_target_estimator_params.c b/src/modules/vision_target_estimator/vision_target_estimator_params.c
@@ -113,6 +113,8 @@ PARAM_DEFINE_INT32(VTE_AID_MASK, 14);
  */
 PARAM_DEFINE_INT32(VTE_TASK_MASK, 1);
 
+
+// TODO: remove
 /**
  * Target mode
  *
-Original file line number
+Diff line change
@@ Expand Up / @@ -113,6 +113,8 @@ PARAM_DEFINE_INT32(VTE_AID_MASK, 14); @@
      */
     PARAM_DEFINE_INT32(VTE_TASK_MASK, 1);
+    // TODO: remove
     /**
      * Target mode
      *
@@ Expand Down @@