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EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers #21809

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Jul 6, 2023
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EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers #21809

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14 changes: 8 additions & 6 deletions src/modules/ekf2/EKF2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2568,11 +2568,12 @@ int EKF2::task_spawn(int argc, char *argv[])
// ekf selector requires SENS_IMU_MODE = 0
multi_mode = true;

// IMUs (1 - 4 supported)
// IMUs (1 - MAX_NUM_IMUS supported)
param_get(param_find("EKF2_MULTI_IMU"), &imu_instances);

if (imu_instances < 1 || imu_instances > 4) {
const int32_t imu_instances_limited = math::constrain(imu_instances, static_cast<int32_t>(1), static_cast<int32_t>(4));
if (imu_instances < 1 || imu_instances > MAX_NUM_IMUS) {
const int32_t imu_instances_limited = math::constrain(imu_instances, static_cast<int32_t>(1),
static_cast<int32_t>(MAX_NUM_IMUS));
PX4_WARN("EKF2_MULTI_IMU limited %" PRId32 " -> %" PRId32, imu_instances, imu_instances_limited);
param_set_no_notification(param_find("EKF2_MULTI_IMU"), &imu_instances_limited);
imu_instances = imu_instances_limited;
Expand All @@ -2586,9 +2587,10 @@ int EKF2::task_spawn(int argc, char *argv[])
const param_t param_ekf2_mult_mag = param_find("EKF2_MULTI_MAG");
param_get(param_ekf2_mult_mag, &mag_instances);

// Mags (1 - 4 supported)
if (mag_instances > 4) {
const int32_t mag_instances_limited = math::constrain(mag_instances, static_cast<int32_t>(1), static_cast<int32_t>(4));
// Mags (1 - MAX_NUM_MAGS supported)
if (mag_instances > MAX_NUM_MAGS) {
const int32_t mag_instances_limited = math::constrain(mag_instances, static_cast<int32_t>(1),
static_cast<int32_t>(MAX_NUM_MAGS));
PX4_WARN("EKF2_MULTI_MAG limited %" PRId32 " -> %" PRId32, mag_instances, mag_instances_limited);
param_set_no_notification(param_ekf2_mult_mag, &mag_instances_limited);
mag_instances = mag_instances_limited;
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