modules: lpe: refactor fusion bitmask

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -180,20 +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, "
-	       "baro: %d, landing_target: %d, mocap: %d, lidar: %d, sonar: %d\n",
+	       "landing_target: %d, land: %d, pub_agl_z: %d, flow_gyro: %d, "
+	       "baro: %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_TARGET) != 0,
 	       (_fusion.get() & FUSE_LAND) != 0,
 	       (_fusion.get() & FUSE_PUB_AGL_Z) != 0,
 	       (_fusion.get() & FUSE_FLOW_GYRO_COMP) != 0,
-	       (_fusion.get() & FUSE_BARO) != 0,
-	       (_fusion.get() & FUSE_LAND_TARGET) != 0,
-	       (_fusion.get() & FUSE_MOCAP) != 0,
-	       (_fusion.get() & FUSE_LIDAR) != 0,
-	       (_fusion.get() & FUSE_SONAR) != 0);
+	       (_fusion.get() & FUSE_BARO) != 0);
 }
 
 BlockLocalPositionEstimator::~BlockLocalPositionEstimator()
@@ -303,9 +299,9 @@ void BlockLocalPositionEstimator::update()
 	bool flowUpdated = (_fusion.get() & FUSE_FLOW) && _sub_flow.updated();
 	bool gpsUpdated = (_fusion.get() & FUSE_GPS) && _sub_gps.updated();
 	bool visionUpdated = (_fusion.get() & FUSE_VIS_POS) && _sub_vision_pos.updated();
-	bool mocapUpdated = (_fusion.get() & FUSE_MOCAP) && _sub_mocap.updated();
-	bool lidarUpdated = (_fusion.get() & FUSE_LIDAR) && (_sub_lidar != nullptr) && _sub_lidar->updated();
-	bool sonarUpdated = (_fusion.get() & FUSE_SONAR) && (_sub_sonar != nullptr) && _sub_sonar->updated();
+	bool mocapUpdated = _sub_mocap.updated();
+	bool lidarUpdated = (_sub_lidar != nullptr) && _sub_lidar->updated();
+	bool sonarUpdated = (_sub_sonar != nullptr) && _sub_sonar->updated();
 	bool landUpdated = landed()
 			   && ((_timeStamp - _time_last_land) > 1.0e6f / LAND_RATE);		// throttle rate
 

src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp

@@ -117,15 +117,11 @@ public:
 		FUSE_GPS = 1 << 0,
 		FUSE_FLOW = 1 << 1,
 		FUSE_VIS_POS = 1 << 2,
-		FUSE_VIS_YAW = 1 << 3,
+		FUSE_LAND_TARGET = 1 << 3,
 		FUSE_LAND = 1 << 4,
 		FUSE_PUB_AGL_Z = 1 << 5,
 		FUSE_FLOW_GYRO_COMP = 1 << 6,
-		FUSE_BARO = 1 << 7,
-		FUSE_LAND_TARGET = 1 << 8,
-		FUSE_MOCAP = 1 << 9,
-		FUSE_LIDAR = 1 << 10,
-		FUSE_SONAR = 1 << 11,
+		FUSE_BARO = 1 << 7
 	};
 
 	enum sensor_t {

src/modules/local_position_estimator/params.c

@@ -431,17 +431,13 @@ PARAM_DEFINE_FLOAT(LPE_LAND_VXY, 0.05f);
  * 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init
  * 1 : Set to true to fuse optical flow data if available
  * 2 : Set to true to fuse vision position
- * 3 : Set to true to fuse vision yaw
+ * 3 : Set to true to enable landing target
  * 4 : Set to true to fuse land detector
  * 5 : Set to true to publish AGL as local position down component
  * 6 : Set to true to enable flow gyro compensation
  * 7 : Set to true to enable baro fusion
- * 8 : Set to true to enable land target
- * 9 : Set to true to enable motion capture fusion
- * 10 : Set to true to enable lidar fusion
- * 11 : Set to true to enable sonar fusion
  *
- * default (145 - GPS only)
+ * default (145 - GPS, baro, land detector)
  *
  * @group Local Position Estimator
  * @min 0
@@ -449,14 +445,10 @@ PARAM_DEFINE_FLOAT(LPE_LAND_VXY, 0.05f);
  * @bit 0  fuse GPS, requires GPS for alt. init
  * @bit 1  fuse optical flow
  * @bit 2  fuse vision position
- * @bit 3  fuse vision yaw
+ * @bit 3  fuse landing target
  * @bit 4  fuse land detector
  * @bit 5  pub agl as lpos down
  * @bit 6  flow gyro compensation
  * @bit 7  fuse baro
- * @bit 8  land_target
- * @bit 9  motion capture
- * @bit 10 lidar
- * @bit 11 sonar
  */
 PARAM_DEFINE_INT32(LPE_FUSION, 145);