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AP_NavEKF: source supports GSF yaw

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Randy Mackay 2020-12-22 16:15:21 +09:00 committed by Andrew Tridgell
parent 66b2b988c4
commit 0fb168d6ab
2 changed files with 10 additions and 5 deletions
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12
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
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@ -52,7 +52,7 @@ const AP_Param::GroupInfo AP_NavEKF_Source::var_info[] = {
// @Param: 1_YAW // @Param: 1_YAW
// @DisplayName: Yaw Source // @DisplayName: Yaw Source
// @Description: Yaw Source // @Description: Yaw Source
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav // @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav, 8:GSF
// @User: Advanced // @User: Advanced
AP_GROUPINFO("1_YAW", 5, AP_NavEKF_Source, _source_set[0].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::COMPASS), AP_GROUPINFO("1_YAW", 5, AP_NavEKF_Source, _source_set[0].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::COMPASS),
@ -88,7 +88,7 @@ const AP_Param::GroupInfo AP_NavEKF_Source::var_info[] = {
// @Param: 2_YAW // @Param: 2_YAW
// @DisplayName: Yaw Source (Secondary) // @DisplayName: Yaw Source (Secondary)
// @Description: Yaw Source (Secondary) // @Description: Yaw Source (Secondary)
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav // @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav, 8:GSF
// @User: Advanced // @User: Advanced
AP_GROUPINFO("2_YAW", 10, AP_NavEKF_Source, _source_set[1].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::NONE), AP_GROUPINFO("2_YAW", 10, AP_NavEKF_Source, _source_set[1].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::NONE),
#endif #endif
@ -125,7 +125,7 @@ const AP_Param::GroupInfo AP_NavEKF_Source::var_info[] = {
// @Param: 3_YAW // @Param: 3_YAW
// @DisplayName: Yaw Source (Tertiary) // @DisplayName: Yaw Source (Tertiary)
// @Description: Yaw Source (Tertiary) // @Description: Yaw Source (Tertiary)
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav // @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav, 8:GSF
// @User: Advanced // @User: Advanced
AP_GROUPINFO("3_YAW", 15, AP_NavEKF_Source, _source_set[2].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::NONE), AP_GROUPINFO("3_YAW", 15, AP_NavEKF_Source, _source_set[2].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::NONE),
#endif #endif
@ -274,7 +274,8 @@ bool AP_NavEKF_Source::usingGPS() const
return getPosXYSource() == SourceXY::GPS || return getPosXYSource() == SourceXY::GPS ||
getPosZSource() == SourceZ::GPS || getPosZSource() == SourceZ::GPS ||
getVelXYSource() == SourceXY::GPS || getVelXYSource() == SourceXY::GPS ||
getVelZSource() == SourceZ::GPS; getVelZSource() == SourceZ::GPS ||
getYawSource() == SourceYaw::GSF;
} }
// true if some parameters have been configured (used during parameter conversion) // true if some parameters have been configured (used during parameter conversion)
@ -415,6 +416,9 @@ bool AP_NavEKF_Source::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
case SourceYaw::EXTNAV: case SourceYaw::EXTNAV:
visualodom_required = true; visualodom_required = true;
break; break;
case SourceYaw::GSF:
gps_required = true;
break;
default: default:
// invalid yaw value // invalid yaw value
hal.util->snprintf(failure_msg, failure_msg_len, "Check EK3_SRC%d_YAW", (int)i+1); hal.util->snprintf(failure_msg, failure_msg_len, "Check EK3_SRC%d_YAW", (int)i+1);

3
libraries/AP_NavEKF/AP_NavEKF_Source.h
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@ -42,7 +42,8 @@ public:
COMPASS = 1, COMPASS = 1,
EXTERNAL = 2, EXTERNAL = 2,
EXTERNAL_COMPASS_FALLBACK = 3, EXTERNAL_COMPASS_FALLBACK = 3,
EXTNAV = 6 EXTNAV = 6,
GSF = 8
}; };
// enum for OPTIONS parameter // enum for OPTIONS parameter