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AP_AHRS: use baro singleton

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This commit is contained in:
Peter Barker 2018-03-06 07:34:26 +11:00 committed by Lucas De Marchi
parent 02205a0cb3
commit 024b29858d
6 changed files with 11 additions and 18 deletions
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8
libraries/AP_AHRS/AP_AHRS.h
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@ -53,7 +53,7 @@ public:
friend class AP_AHRS_View; friend class AP_AHRS_View;
// Constructor // Constructor
AP_AHRS(AP_InertialSensor &ins, AP_Baro &baro) : AP_AHRS(AP_InertialSensor &ins) :
roll(0.0f), roll(0.0f),
pitch(0.0f), pitch(0.0f),
yaw(0.0f), yaw(0.0f),
@ -67,7 +67,6 @@ public:
_beacon(nullptr), _beacon(nullptr),
_compass_last_update(0), _compass_last_update(0),
_ins(ins), _ins(ins),
_baro(baro),
_cos_roll(1.0f), _cos_roll(1.0f),
_cos_pitch(1.0f), _cos_pitch(1.0f),
_cos_yaw(1.0f), _cos_yaw(1.0f),
@ -211,10 +210,6 @@ public:
return _ins; return _ins;
} }
const AP_Baro &get_baro() const {
return _baro;
}
// get the index of the current primary accelerometer sensor // get the index of the current primary accelerometer sensor
virtual uint8_t get_primary_accel_index(void) const { virtual uint8_t get_primary_accel_index(void) const {
return _ins.get_primary_accel(); return _ins.get_primary_accel();
@ -639,7 +634,6 @@ protected:
// note: we use ref-to-pointer here so that our caller can change the GPS without our noticing // note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
// IMU under us without our noticing. // IMU under us without our noticing.
AP_InertialSensor &_ins; AP_InertialSensor &_ins;
AP_Baro &_baro;
// a vector to capture the difference between the controller and body frames // a vector to capture the difference between the controller and body frames
AP_Vector3f _trim; AP_Vector3f _trim;

4
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -956,7 +956,7 @@ bool AP_AHRS_DCM::get_position(struct Location &loc) const
{ {
loc.lat = _last_lat; loc.lat = _last_lat;
loc.lng = _last_lng; loc.lng = _last_lng;
loc.alt = _baro.get_altitude() * 100 + _home.alt; loc.alt = AP::baro().get_altitude() * 100 + _home.alt;
loc.flags.relative_alt = 0; loc.flags.relative_alt = 0;
loc.flags.terrain_alt = 0; loc.flags.terrain_alt = 0;
location_offset(loc, _position_offset_north, _position_offset_east); location_offset(loc, _position_offset_north, _position_offset_east);
@ -1010,7 +1010,7 @@ void AP_AHRS_DCM::set_home(const Location &loc)
// a relative ground position to home in meters, Down // a relative ground position to home in meters, Down
void AP_AHRS_DCM::get_relative_position_D_home(float &posD) const void AP_AHRS_DCM::get_relative_position_D_home(float &posD) const
{ {
posD = -_baro.get_altitude(); posD = -AP::baro().get_altitude();
} }
/* /*

4
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -23,8 +23,8 @@
class AP_AHRS_DCM : public AP_AHRS { class AP_AHRS_DCM : public AP_AHRS {
public: public:
AP_AHRS_DCM(AP_InertialSensor &ins, AP_Baro &baro) AP_AHRS_DCM(AP_InertialSensor &ins)
: AP_AHRS(ins, baro) : AP_AHRS(ins)
, _omega_I_sum_time(0.0f) , _omega_I_sum_time(0.0f)
, _renorm_val_sum(0.0f) , _renorm_val_sum(0.0f)
, _renorm_val_count(0) , _renorm_val_count(0)

5
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -31,11 +31,10 @@ extern const AP_HAL::HAL& hal;
// constructor // constructor
AP_AHRS_NavEKF::AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_AHRS_NavEKF::AP_AHRS_NavEKF(AP_InertialSensor &ins,
AP_Baro &baro,
NavEKF2 &_EKF2, NavEKF2 &_EKF2,
NavEKF3 &_EKF3, NavEKF3 &_EKF3,
Flags flags) : Flags flags) :
AP_AHRS_DCM(ins, baro), AP_AHRS_DCM(ins),
EKF2(_EKF2), EKF2(_EKF2),
EKF3(_EKF3), EKF3(_EKF3),
_ekf2_started(false), _ekf2_started(false),
@ -903,7 +902,7 @@ void AP_AHRS_NavEKF::get_relative_position_D_home(float &posD) const
float originD; float originD;
if (!get_relative_position_D_origin(originD) || if (!get_relative_position_D_origin(originD) ||
!get_origin(originLLH)) { !get_origin(originLLH)) {
posD = -_baro.get_altitude(); posD = -AP::baro().get_altitude();
return; return;
} }

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -44,7 +44,7 @@ public:
}; };
// Constructor // Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_AHRS_NavEKF(AP_InertialSensor &ins,
NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE); NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE);
/* Do not allow copies */ /* Do not allow copies */

6
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
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@ -26,9 +26,9 @@ static AP_SerialManager serial_manager;
class DummyVehicle { class DummyVehicle {
public: public:
RangeFinder sonar{serial_manager, ROTATION_PITCH_270}; RangeFinder sonar{serial_manager, ROTATION_PITCH_270};
NavEKF2 EKF2{&ahrs, barometer, sonar}; NavEKF2 EKF2{&ahrs, sonar};
NavEKF3 EKF3{&ahrs, barometer, sonar}; NavEKF3 EKF3{&ahrs, sonar};
AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3, AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF}; AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
}; };