Renamed state estimator type enums

bitcraze · Feb 1, 2023 · c6eaa98 · c6eaa98
1 parent 0cc31a9
commit c6eaa98
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Showing 14 changed files with 38 additions and 38 deletions.
diff --git a/configs/bolt_defconfig b/configs/bolt_defconfig
@@ -1,4 +1,4 @@
 CONFIG_PLATFORM_BOLT=y
 
-CONFIG_ESTIMATOR_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
 CONFIG_CONTROLLER_AUTO_SELECT=y
diff --git a/configs/cfbl_defconfig b/configs/cfbl_defconfig
@@ -1,4 +1,4 @@
 CONFIG_MOTORS_ESC_PROTOCOL_DSHOT=y
 
-CONFIG_ESTIMATOR_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
 CONFIG_CONTROLLER_AUTO_SELECT=y
diff --git a/configs/flapper_defconfig b/configs/flapper_defconfig
@@ -1,6 +1,6 @@
 CONFIG_PLATFORM_FLAPPER=y
 
-CONFIG_ESTIMATOR_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
 CONFIG_CONTROLLER_PID=y
 
 CONFIG_MOTORS_ESC_PROTOCOL_STANDARD_PWM=y

diff --git a/configs/tag_defconfig b/configs/tag_defconfig
@@ -1,6 +1,6 @@
 CONFIG_PLATFORM_TAG=y
 
-CONFIG_ESTIMATOR_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
 CONFIG_CONTROLLER_AUTO_SELECT=y
 
 CONFIG_DECK_FORCE="bcLoco"

diff --git a/docs/development/create_platform.md b/docs/development/create_platform.md
@@ -195,7 +195,7 @@ To make it easier for people to build for `RINCEWIND` we can add a `defconfig` f
 ```Makefile
 CONFIG_PLATFORM_BOLT=y
 
-CONFIG_ESTIMATOR_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
 CONFIG_CONTROLLER_AUTO_SELECT=y
 ```
 
@@ -204,7 +204,7 @@ Based on this a start of `rincewind_defconfig` could be:
 ```Makefile
 CONFIG_PLATFORM_RINCEWIND=y
 
-CONFIG_ESTIMATOR_ANY=y
+CONFIG_ESTIMATOR_AUTO_SELECT=y
 CONFIG_CONTROLLER_AUTO_SELECT=y
 ```
 

diff --git a/src/deck/core/deck_info.c b/src/deck/core/deck_info.c
@@ -52,7 +52,7 @@ static void enumerateDecks(void);
 static void checkPeriphAndGpioConflicts(void);
 
 static void scanRequiredSystemProperties(void);
-static StateEstimatorType requiredEstimator = anyEstimator;
+static StateEstimatorType requiredEstimator = StateEstimatorTypeAutoSelect;
 static bool registerRequiredEstimator(StateEstimatorType estimator);
 static bool requiredLowInterferenceRadioMode = false;
 
@@ -370,9 +370,9 @@ static bool registerRequiredEstimator(StateEstimatorType estimator)
 {
   bool isError = false;
 
-  if (anyEstimator != estimator)
+  if (StateEstimatorTypeAutoSelect != estimator)
   {
-    if (anyEstimator == requiredEstimator)
+    if (StateEstimatorTypeAutoSelect == requiredEstimator)
     {
       requiredEstimator = estimator;
     }

diff --git a/src/deck/drivers/src/flowdeck_v1v2.c b/src/deck/drivers/src/flowdeck_v1v2.c
@@ -121,12 +121,12 @@ static void flowdeckTask(void *param)
     flowData.stdDevX = stdFlow;
     flowData.stdDevY = stdFlow;
     flowData.dt = (float)(usecTimestamp()-lastTime)/1000000.0f;
-    // we do want to update dt every measurement and not only in the ones with detected motion, 
-    // as we work with instantaneous gyro and velocity values in the update function 
+    // we do want to update dt every measurement and not only in the ones with detected motion,
+    // as we work with instantaneous gyro and velocity values in the update function
     // (meaning assuming the current measurements over all of dt)
-    lastTime = usecTimestamp(); 
+    lastTime = usecTimestamp();
+
 
-
 
 #if defined(USE_MA_SMOOTHING)
       // Use MA Smoothing
@@ -203,7 +203,7 @@ static const DeckDriver flowdeck1_deck = {
   .name = "bcFlow",
   .usedGpio = DECK_USING_IO_3,
   .usedPeriph = DECK_USING_I2C | DECK_USING_SPI,
-  .requiredEstimator = kalmanEstimator,
+  .requiredEstimator = StateEstimatorTypeKalman,
 
   .init = flowdeck1Init,
   .test = flowdeck1Test,
@@ -250,7 +250,7 @@ static const DeckDriver flowdeck2_deck = {
 
   .usedGpio = DECK_USING_IO_3,
   .usedPeriph = DECK_USING_I2C | DECK_USING_SPI,
-  .requiredEstimator = kalmanEstimator,
+  .requiredEstimator = StateEstimatorTypeKalman,
 
   .init = flowdeck2Init,
   .test = flowdeck2Test,

diff --git a/src/deck/drivers/src/lighthouse.c b/src/deck/drivers/src/lighthouse.c
@@ -91,7 +91,7 @@ static const DeckDriver lighthouse_deck = {
 
   .usedGpio = 0,
   .usedPeriph = DECK_USING_UART1,
-  .requiredEstimator = kalmanEstimator,
+  .requiredEstimator = StateEstimatorTypeKalman,
 
   .memoryDef = &memoryDef,
 

diff --git a/src/deck/drivers/src/locodeck.c b/src/deck/drivers/src/locodeck.c
@@ -585,7 +585,7 @@ static const DeckDriver dwm1000_deck = {
   .usedGpio = DECK_USING_IO_1 | DECK_USING_PC10 | DECK_USING_PC11,
 #endif
   .usedPeriph = DECK_USING_SPI,
-  .requiredEstimator = kalmanEstimator,
+  .requiredEstimator = StateEstimatorTypeKalman,
   #ifdef LOCODECK_NO_LOW_INTERFERENCE
   .requiredLowInterferenceRadioMode = false,
   #else

diff --git a/src/modules/interface/estimator.h b/src/modules/interface/estimator.h
@@ -29,18 +29,18 @@
 #include "stabilizer_types.h"
 
 typedef enum {
-  anyEstimator = 0,
-  complementaryEstimator,
+  StateEstimatorTypeAutoSelect = 0,
+  StateEstimatorTypeComplementary,
 #ifdef CONFIG_ESTIMATOR_KALMAN_ENABLE
-  kalmanEstimator,
+  StateEstimatorTypeKalman,
 #endif
 #ifdef CONFIG_ESTIMATOR_UKF_ENABLE
-  ukfEstimator,
+  StateEstimatorTypeUkf,
 #endif
 #ifdef CONFIG_ESTIMATOR_OOT
-  OutOfTreeEstimator,
+  StateEstimatorTypeOutOfTree,
 #endif
-  StateEstimatorTypeCount,
+  StateEstimatorType_COUNT,
 } StateEstimatorType;
 
 typedef enum {
@@ -168,4 +168,4 @@ bool estimatorDequeue(measurement_t *measurement);
 void estimatorOutOfTreeInit(void);
 bool estimatorOutOfTreeTest(void);
 void estimatorOutOfTree(state_t *state, const uint32_t tick);
-#endif
+#endif
diff --git a/src/modules/src/Kconfig b/src/modules/src/Kconfig
@@ -61,10 +61,10 @@ config ESTIMATOR_UKF_ENABLE
 
 choice
     prompt "Default estimator"
-    default CONFIG_ESTIMATOR_ANY
+    default CONFIG_ESTIMATOR_AUTO_SELECT
 
-config ESTIMATOR_ANY
-    bool "Any Estimator"
+config ESTIMATOR_AUTO_SELECT
+    bool "Auto select Estimator"
     help
         Do not care which estimator is used, if any
 

diff --git a/src/modules/src/estimator.c b/src/modules/src/estimator.c
@@ -16,8 +16,8 @@
 #include "eventtrigger.h"
 #include "quatcompress.h"
 
-#define DEFAULT_ESTIMATOR complementaryEstimator
-static StateEstimatorType currentEstimator = anyEstimator;
+#define DEFAULT_ESTIMATOR StateEstimatorTypeComplementary
+static StateEstimatorType currentEstimator = StateEstimatorTypeAutoSelect;
 
 
 #define MEASUREMENTS_QUEUE_SIZE (20)
@@ -106,28 +106,28 @@ void stateEstimatorInit(StateEstimatorType estimator) {
 }
 
 void stateEstimatorSwitchTo(StateEstimatorType estimator) {
-  if (estimator < 0 || estimator >= StateEstimatorTypeCount) {
+  if (estimator < 0 || estimator >= StateEstimatorType_COUNT) {
     return;
   }
 
   StateEstimatorType newEstimator = estimator;
 
-  if (anyEstimator == newEstimator) {
+  if (StateEstimatorTypeAutoSelect == newEstimator) {
     newEstimator = DEFAULT_ESTIMATOR;
   }
 
   #if defined(CONFIG_ESTIMATOR_KALMAN)
-    #define ESTIMATOR kalmanEstimator
+    #define ESTIMATOR StateEstimatorTypeKalman
   #elif defined(CONFIG_UKF_KALMAN)
-    #define ESTIMATOR ukfEstimator
+    #define ESTIMATOR StateEstimatorTypeUkf
   #elif defined(CONFIG_ESTIMATOR_COMPLEMENTARY)
-    #define ESTIMATOR complementaryEstimator
+    #define ESTIMATOR StateEstimatorTypeComplementary
   #else
-    #define ESTIMATOR anyEstimator
+    #define ESTIMATOR StateEstimatorTypeAutoSelect
   #endif
 
   StateEstimatorType forcedEstimator = ESTIMATOR;
-  if (forcedEstimator != anyEstimator) {
+  if (forcedEstimator != StateEstimatorTypeAutoSelect) {
     DEBUG_PRINT("Estimator type forced\n");
     newEstimator = forcedEstimator;
   }

diff --git a/src/modules/src/stabilizer.c b/src/modules/src/stabilizer.c
@@ -359,7 +359,7 @@ void stabilizerSetEmergencyStopTimeout(int timeout)
  */
 PARAM_GROUP_START(stabilizer)
 /**
- * @brief Estimator type Any(0), complementary(1), extended kalman(2), **unscented kalman(3)  (Default: 0)
+ * @brief Estimator type Auto select(0), complementary(1), extended kalman(2), **unscented kalman(3)  (Default: 0)
  *
  * ** Experimental, needs to be enabled in kbuild
  */

diff --git a/src/modules/src/system.c b/src/modules/src/system.c
@@ -194,7 +194,7 @@ void systemTask(void *arg)
   commInit();
   commanderInit();
 
-  StateEstimatorType estimator = anyEstimator;
+  StateEstimatorType estimator = StateEstimatorTypeAutoSelect;
 
   #ifdef CONFIG_ESTIMATOR_KALMAN_ENABLE
   estimatorKalmanTaskInit();