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AP_NavEKF_Source: add mark_configured_in_storage

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This commit is contained in:
Randy Mackay 2020-11-20 12:34:09 +09:00
parent 50b2cf136f
commit 0119c48e1e
2 changed files with 15 additions and 8 deletions
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16
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
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@ -293,13 +293,17 @@ bool AP_NavEKF_Source::usingGPS() const
}
// true if some parameters have been configured (used during parameter conversion)
bool AP_NavEKF_Source::any_params_configured_in_storage() const
bool AP_NavEKF_Source::configured_in_storage() const
{
return _source_set[0].posxy.configured_in_storage() ||
_source_set[0].velxy.configured_in_storage() ||
_source_set[0].posz.configured_in_storage() ||
_source_set[0].velz.configured_in_storage() ||
_source_set[0].yaw.configured_in_storage();
// first source parameter is used to determine if configured or not
return _source_set[0].posxy.configured_in_storage();
}
// mark parameters as configured in storage (used to ensure parameter conversion is only done once)
void AP_NavEKF_Source::mark_configured_in_storage()
{
// save first parameter's current value to mark as configured
return _source_set[0].posxy.save(true);
}
// returns false if we fail arming checks, in which case the buffer will be populated with a failure message

7
libraries/AP_NavEKF/AP_NavEKF_Source.h
View File

@ -82,8 +82,11 @@ public:
// true if any source is GPS
bool usingGPS() const;
// true if any primary source parameters have been configured (used for parameter conversion)
bool any_params_configured_in_storage() const;
// true if source parameters have been configured (used for parameter conversion)
bool configured_in_storage() const;
// mark parameters as configured in storage (used to ensure parameter conversion is only done once)
void mark_configured_in_storage();
// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const;