AP_NavEKF3: add an option_is_enabled method

ArduPilot · Oct 17, 2024 · a8c69ee · a8c69ee
1 parent 145cc4b
commit a8c69ee
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -453,9 +453,12 @@ class NavEKF3 {
     AP_Int32 _options;              // bit mask of processing options
 
     // enum for processing options
-    enum class Options {
+    enum class Option {
         JammingExpected     = (1<<0),
     };
+    bool option_is_enabled(Option option) const {
+        return (_options & (uint32_t)option) != 0;
+    }
 
 // Possible values for _flowUse
 #define FLOW_USE_NONE    0

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -638,7 +638,7 @@ void NavEKF3_core::readGpsData()
         useGpsVertVel = false;
     }
 
-    if ((frontend->_options & (int32_t)NavEKF3::Options::JammingExpected) &&
+    if (frontend->option_is_enabled(NavEKF3::Option::JammingExpected) &&
         (lastTimeGpsReceived_ms - secondLastGpsTime_ms) > frontend->gpsNoFixTimeout_ms) {
         const bool doingBodyVelNav = (imuSampleTime_ms - prevBodyVelFuseTime_ms < 1000);
         const bool doingFlowNav = (imuSampleTime_ms - prevFlowFuseTime_ms < 1000);;