ekf2-pos bias estimator: use enum

PX4 · Dec 5, 2023 · 8a955fc · 8a955fc
1 parent ddd0850
commit 8a955fc
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
@@ -1140,11 +1140,11 @@ class Ekf final : public EstimatorInterface
 	void resetQuatStateYaw(float yaw, float yaw_variance);
 
 	HeightSensor _height_sensor_ref{HeightSensor::UNKNOWN};
-	uint8_t _position_sensor_ref{static_cast<uint8_t>(PositionSensor::GNSS)};
+	PositionSensor _position_sensor_ref{PositionSensor::GNSS};
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	HeightBiasEstimator _ev_hgt_b_est{HeightSensor::EV, _height_sensor_ref};
-	PositionBiasEstimator _ev_pos_b_est{static_cast<uint8_t>(PositionSensor::EV), _position_sensor_ref};
+	PositionBiasEstimator _ev_pos_b_est{PositionSensor::EV, _position_sensor_ref};
 	AlphaFilter<Quatf> _ev_q_error_filt{0.001f};
 	bool _ev_q_error_initialized{false};
 #endif // CONFIG_EKF2_EXTERNAL_VISION

diff --git a/src/modules/ekf2/EKF/position_bias_estimator.hpp b/src/modules/ekf2/EKF/position_bias_estimator.hpp
@@ -39,11 +39,12 @@
 #define EKF_POSITION_BIAS_ESTIMATOR_HPP
 
 #include "bias_estimator.hpp"
+#include "common.h"
 
 class PositionBiasEstimator
 {
 public:
-	PositionBiasEstimator(uint8_t sensor, const uint8_t &sensor_ref):
+	PositionBiasEstimator(PositionSensor sensor, const PositionSensor &sensor_ref):
 		_sensor(sensor),
 		_sensor_ref(sensor_ref)
 	{}
@@ -107,8 +108,8 @@ class PositionBiasEstimator
 private:
 	BiasEstimator _bias[2] {};
 
-	const uint8_t _sensor;
-	const uint8_t &_sensor_ref;
+	const PositionSensor _sensor;
+	const PositionSensor &_sensor_ref;
 
 	bool _is_sensor_fusion_active{false}; // TODO: replace by const ref and remove setter when migrating _control_status.flags from union to bool
 };