Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Blimp: rename for AHRS restructuring

Browse Source
This commit is contained in:
Peter Barker 2021-07-20 22:16:34 +10:00 committed by Peter Barker
parent e98af90749
commit 106534a654
3 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
Blimp/AP_Arming.cpp
View File

@ -244,7 +244,7 @@ bool AP_Arming_Blimp::pre_arm_ekf_attitude_check()
bool AP_Arming_Blimp::mandatory_gps_checks(bool display_failure) bool AP_Arming_Blimp::mandatory_gps_checks(bool display_failure)
{ {
// always check if inertial nav has started and is ready // always check if inertial nav has started and is ready
const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf(); const auto &ahrs = AP::ahrs();
char failure_msg[50] = {}; char failure_msg[50] = {};
if (!ahrs.pre_arm_check(false, failure_msg, sizeof(failure_msg))) { if (!ahrs.pre_arm_check(false, failure_msg, sizeof(failure_msg))) {
check_failed(display_failure, "AHRS: %s", failure_msg); check_failed(display_failure, "AHRS: %s", failure_msg);
@ -363,7 +363,7 @@ bool AP_Arming_Blimp::arm(const AP_Arming::Method method, const bool do_arming_c
gcs().send_text(MAV_SEVERITY_INFO, "Arming motors"); //MIR kept in - usually only in SITL gcs().send_text(MAV_SEVERITY_INFO, "Arming motors"); //MIR kept in - usually only in SITL
AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf(); auto &ahrs = AP::ahrs();
blimp.initial_armed_bearing = ahrs.yaw_sensor; blimp.initial_armed_bearing = ahrs.yaw_sensor;
@ -425,7 +425,7 @@ bool AP_Arming_Blimp::disarm(const AP_Arming::Method method, bool do_disarm_chec
gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors"); //MIR keeping in - usually only in SITL gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors"); //MIR keeping in - usually only in SITL
AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf(); auto &ahrs = AP::ahrs();
// save compass offsets learned by the EKF if enabled // save compass offsets learned by the EKF if enabled
Compass &compass = AP::compass(); Compass &compass = AP::compass();

2
Blimp/Blimp.h
View File

@ -44,7 +44,7 @@
#include <Filter/Filter.h> // Filter library #include <Filter/Filter.h> // Filter library
#include <AP_Airspeed/AP_Airspeed.h> // needed for AHRS build #include <AP_Airspeed/AP_Airspeed.h> // needed for AHRS build
#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build #include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
#include <AP_InertialNav/AP_InertialNav.h> // ArduPilot Mega inertial navigation library #include <AP_InertialNav/AP_InertialNav_NavEKF.h> // ArduPilot Mega inertial navigation library
#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library #include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library #include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
#include <AP_Arming/AP_Arming.h> #include <AP_Arming/AP_Arming.h>

2
Blimp/Log.cpp
View File

@ -98,7 +98,7 @@ void Blimp::Log_Write_Attitude()
// Write an EKF and POS packet // Write an EKF and POS packet
void Blimp::Log_Write_EKF_POS() void Blimp::Log_Write_EKF_POS()
{ {
AP::ahrs_navekf().Log_Write(); AP::ahrs().Log_Write();
ahrs.Write_AHRS2(); ahrs.Write_AHRS2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE(); sitl.Log_Write_SIMSTATE();