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AP_AHRS: removed the AHRS_GPS_DELAY parameter

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the best value has turned out to be 1, and tweaking it has not turned
out to be useful, so this simplifies the code in preparation for
adding the anti-aliasing handling with multiple accelerometers
This commit is contained in:
Andrew Tridgell 2014-02-27 08:57:44 +11:00
parent 6b9e1edf38
commit 0b45d2bc06
3 changed files with 5 additions and 51 deletions
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9
libraries/AP_AHRS/AP_AHRS.cpp
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@ -108,13 +108,8 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("GPS_MINSATS", 11, AP_AHRS, _gps_minsats, 6), AP_GROUPINFO("GPS_MINSATS", 11, AP_AHRS, _gps_minsats, 6),
// @Param: GPS_DELAY // NOTE: index 12 was for GPS_DELAY, but now removed, fixed delay
// @DisplayName: AHRS GPS delay steps // of 1 was found to be the best choice
// @Description: number of GPS samples to delay accels for synchronisation with the GPS velocity data
// @Range: 0 5
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("GPS_DELAY", 12, AP_AHRS, _gps_delay, 1),
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
// @Param: EKF_USE // @Param: EKF_USE

43
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -461,48 +461,9 @@ AP_AHRS_DCM::drift_correction_yaw(void)
*/ */
Vector3f AP_AHRS_DCM::ra_delayed(const Vector3f &ra) Vector3f AP_AHRS_DCM::ra_delayed(const Vector3f &ra)
{ {
if (_ra_delay_length != _gps_delay.get()) {
// the AHRS_GPS_DELAY setting has changed
// constrain it between 0 and 5
if (_gps_delay.get() > 5) {
_gps_delay.set(5);
}
if (_gps_delay.get() < 0) {
_gps_delay.set(0);
}
if (_ra_delay_buffer != NULL) {
delete[] _ra_delay_buffer;
_ra_delay_buffer = NULL;
}
// allocate the new buffer
_ra_delay_length = _gps_delay.get();
if (_ra_delay_length != 0) {
_ra_delay_buffer = new Vector3f[_ra_delay_length];
}
_ra_delay_next = 0;
if (_ra_delay_buffer != NULL) {
// on size change prefill the buffer with the current value
for (uint8_t i=0; i<_ra_delay_length; i++) {
_ra_delay_buffer[i] = ra;
}
}
}
if (_ra_delay_buffer == NULL) {
// we're not doing any delay
return ra;
}
// get the old element, and then fill it with the new element // get the old element, and then fill it with the new element
Vector3f ret = _ra_delay_buffer[_ra_delay_next]; Vector3f ret = _ra_delay_buffer;
_ra_delay_buffer[_ra_delay_next] = ra; _ra_delay_buffer = ra;
// move to the next element
_ra_delay_next++;
if (_ra_delay_next == _ra_delay_length) {
_ra_delay_next = 0;
}
return ret; return ret;
} }

4
libraries/AP_AHRS/AP_AHRS_DCM.h
View File

@ -111,9 +111,7 @@ private:
// variables to cope with delaying the GA sum to match GPS lag // variables to cope with delaying the GA sum to match GPS lag
Vector3f ra_delayed(const Vector3f &ra); Vector3f ra_delayed(const Vector3f &ra);
uint8_t _ra_delay_length; Vector3f _ra_delay_buffer;
uint8_t _ra_delay_next;
Vector3f *_ra_delay_buffer;
// P term gain based on spin rate // P term gain based on spin rate
float _P_gain(float spin_rate); float _P_gain(float spin_rate);