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AP_NavEKF3: rename using_external_yaw to using_noncompass_for_yaw

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This commit is contained in:
Randy Mackay 2021-08-18 16:34:06 +09:00 committed by Andrew Tridgell
parent ce56bfe786
commit 0edfd2634f
5 changed files with 10 additions and 10 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1466,13 +1466,13 @@ bool NavEKF3::use_compass(void) const
return core[primary].use_compass();
}
// are we using an external yaw source? Needed for ahrs attitudes_consistent
bool NavEKF3::using_external_yaw(void) const
// are we using (aka fusing) a non-compass yaw?
bool NavEKF3::using_noncompass_for_yaw(void) const
{
if (!core) {
return false;
}
return core[primary].using_external_yaw();
return core[primary].using_noncompass_for_yaw();
}
// check if configured to use GPS for horizontal position estimation

4
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -336,8 +336,8 @@ public:
// write EKF information to on-board logs
void Log_Write();
// are we using an external yaw source? This is needed by AHRS attitudes_consistent check
bool using_external_yaw(void) const;
// are we using (aka fusing) a non-compass yaw?
bool using_noncompass_for_yaw() const;
// check if configured to use GPS for horizontal position estimation
bool configuredToUseGPSForPosXY(void) const;

2
libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
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@ -236,7 +236,7 @@ void NavEKF3_core::SelectBetaDragFusion()
// use of air data to constrain drift is necessary if we have limited sensor data or are doing inertial dead reckoning
bool is_dead_reckoning = ((imuSampleTime_ms - lastPosPassTime_ms) > frontend->deadReckonDeclare_ms) && ((imuSampleTime_ms - lastVelPassTime_ms) > frontend->deadReckonDeclare_ms);
const bool noYawSensor = !use_compass() && !using_external_yaw();
const bool noYawSensor = !use_compass() && !using_noncompass_for_yaw();
const bool f_required = (noYawSensor && (frontend->_betaMask & (1<<1))) || is_dead_reckoning;
// set true when sideslip fusion is feasible (requires zero sideslip assumption to be valid and use of wind states)

4
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -572,8 +572,8 @@ bool NavEKF3_core::use_compass(void) const
!allMagSensorsFailed;
}
// are we using a yaw source other than the magnetomer?
bool NavEKF3_core::using_external_yaw(void) const
// are we using (aka fusing) a non-compass yaw?
bool NavEKF3_core::using_noncompass_for_yaw(void) const
{
const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
#if EK3_FEATURE_EXTERNAL_NAV

4
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -394,8 +394,8 @@ public:
// 6 was EXTERNAL_YAW_FALLBACK (do not use)
};
// are we using an external yaw source? This is needed by AHRS attitudes_consistent check
bool using_external_yaw(void) const;
// are we using (aka fusing) a non-compass yaw?
bool using_noncompass_for_yaw(void) const;
// Writes the default equivalent airspeed and 1-sigma uncertainty in m/s to be used in forward flight if a measured airspeed is required and not available.
void writeDefaultAirSpeed(float airspeed, float uncertainty);