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AP_AHRS: remove ability to use DCM as AHRS

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This commit is contained in:
Peter Barker 2021-07-20 22:16:20 +10:00 committed by Peter Barker
parent a7f14efef2
commit 0d391533b0
4 changed files with 4 additions and 17 deletions
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8
libraries/AP_AHRS/AP_AHRS.cpp
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@ -127,14 +127,12 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = {
// 13 was the old EKF_USE // 13 was the old EKF_USE
#if AP_AHRS_NAVEKF_AVAILABLE
// @Param: EKF_TYPE // @Param: EKF_TYPE
// @DisplayName: Use NavEKF Kalman filter for attitude and position estimation // @DisplayName: Use NavEKF Kalman filter for attitude and position estimation
// @Description: This controls which NavEKF Kalman filter version is used for attitude and position estimation // @Description: This controls which NavEKF Kalman filter version is used for attitude and position estimation
// @Values: 0:Disabled,2:Enable EKF2,3:Enable EKF3,11:ExternalAHRS // @Values: 0:Disabled,2:Enable EKF2,3:Enable EKF3,11:ExternalAHRS
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EKF_TYPE", 14, AP_AHRS, _ekf_type, HAL_AHRS_EKF_TYPE_DEFAULT), AP_GROUPINFO("EKF_TYPE", 14, AP_AHRS, _ekf_type, HAL_AHRS_EKF_TYPE_DEFAULT),
#endif
// @Param: CUSTOM_ROLL // @Param: CUSTOM_ROLL
// @DisplayName: Board orientation roll offset // @DisplayName: Board orientation roll offset
@ -171,7 +169,7 @@ void AP_AHRS::init()
{ {
update_orientation(); update_orientation();
#if !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE #if !HAL_MINIMIZE_FEATURES
_nmea_out = AP_NMEA_Output::probe(); _nmea_out = AP_NMEA_Output::probe();
#endif #endif
} }
@ -476,12 +474,10 @@ void AP_AHRS::Log_Write_Home_And_Origin()
if (logger == nullptr) { if (logger == nullptr) {
return; return;
} }
#if AP_AHRS_NAVEKF_AVAILABLE
Location ekf_orig; Location ekf_orig;
if (get_origin(ekf_orig)) { if (get_origin(ekf_orig)) {
Write_Origin(LogOriginType::ekf_origin, ekf_orig); Write_Origin(LogOriginType::ekf_origin, ekf_orig);
} }
#endif
if (home_is_set()) { if (home_is_set()) {
Write_Origin(LogOriginType::ahrs_home, _home); Write_Origin(LogOriginType::ahrs_home, _home);
@ -495,7 +491,7 @@ float AP_AHRS::get_EAS2TAS(void) const {
void AP_AHRS::update_nmea_out() void AP_AHRS::update_nmea_out()
{ {
#if !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE #if !HAL_MINIMIZE_FEATURES
if (_nmea_out != nullptr) { if (_nmea_out != nullptr) {
_nmea_out->update(); _nmea_out->update();
} }

6
libraries/AP_AHRS/AP_AHRS.h
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@ -732,10 +732,6 @@ private:
namespace AP { namespace AP {
AP_AHRS &ahrs(); AP_AHRS &ahrs();
// ahrs_navekf only exists to avoid code churn
// use ahrs_navekf() only where the AHRS interface doesn't expose the
// functionality you require:
#if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF &ahrs_navekf(); AP_AHRS_NavEKF &ahrs_navekf();
#endif
}; };

6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -31,8 +31,6 @@
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#if AP_AHRS_NAVEKF_AVAILABLE
#define ATTITUDE_CHECK_THRESH_ROLL_PITCH_RAD radians(10) #define ATTITUDE_CHECK_THRESH_ROLL_PITCH_RAD radians(10)
#define ATTITUDE_CHECK_THRESH_YAW_RAD radians(20) #define ATTITUDE_CHECK_THRESH_YAW_RAD radians(20)
@ -173,7 +171,7 @@ void AP_AHRS_NavEKF::update(bool skip_ins_update)
_view->update(skip_ins_update); _view->update(skip_ins_update);
} }
#if !HAL_MINIMIZE_FEATURES && AP_AHRS_NAVEKF_AVAILABLE #if !HAL_MINIMIZE_FEATURES
// update NMEA output // update NMEA output
update_nmea_out(); update_nmea_out();
#endif #endif
@ -2802,5 +2800,3 @@ void AP_AHRS_NavEKF::set_alt_measurement_noise(float noise)
EKF3.set_baro_alt_noise(noise); EKF3.set_baro_alt_noise(noise);
#endif #endif
} }
#endif // AP_AHRS_NAVEKF_AVAILABLE

1
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -32,7 +32,6 @@
#define HAL_NAVEKF3_AVAILABLE 1 #define HAL_NAVEKF3_AVAILABLE 1
#endif #endif
#define AP_AHRS_NAVEKF_AVAILABLE 1
#include "AP_AHRS.h" #include "AP_AHRS.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL