Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: make a pair of methods static on AP_AHRS_Backend

Browse Source 
these don't use any information from the specific backend, but they are called within the backends so making them static on that class is handy
This commit is contained in:
Peter Barker 2023-09-18 23:18:55 +10:00 committed by Peter Barker
parent a5bfd58524
commit 12a06ee0ae
4 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_AHRS/AP_AHRS.cpp
View File

@ -325,7 +325,7 @@ void AP_AHRS::update_state(void)
state.primary_accel = _get_primary_accel_index();
state.primary_core = _get_primary_core_index();
state.wind_estimate_ok = _wind_estimate(state.wind_estimate);
state.EAS2TAS = dcm.get_EAS2TAS();
state.EAS2TAS = AP_AHRS_Backend::get_EAS2TAS();
state.airspeed_ok = _airspeed_estimate(state.airspeed);
state.airspeed_true_ok = _airspeed_estimate_true(state.airspeed_true);
state.airspeed_vec_ok = _airspeed_vector_true(state.airspeed_vec);
@ -786,7 +786,7 @@ bool AP_AHRS::_wind_estimate(Vector3f &wind) const
*/
bool AP_AHRS::airspeed_sensor_enabled(void) const
{
if (!dcm.airspeed_sensor_enabled()) {
if (!AP_AHRS_Backend::airspeed_sensor_enabled()) {
return false;
}
nav_filter_status filter_status;

2
libraries/AP_AHRS/AP_AHRS.h
View File

@ -155,7 +155,7 @@ public:
// opposed to an IMU estimate
bool airspeed_sensor_enabled(uint8_t airspeed_index) const {
// FIXME: make this a method on the active backend
return dcm.airspeed_sensor_enabled(airspeed_index);
return AP_AHRS_Backend::airspeed_sensor_enabled(airspeed_index);
}
// return a synthetic airspeed estimate (one derived from sensors

2
libraries/AP_AHRS/AP_AHRS_Backend.cpp
View File

@ -330,7 +330,7 @@ void AP_AHRS::Log_Write_Home_And_Origin()
}
// get apparent to true airspeed ratio
float AP_AHRS_Backend::get_EAS2TAS(void) const {
float AP_AHRS_Backend::get_EAS2TAS(void) {
return AP::baro().get_EAS2TAS();
}

6
libraries/AP_AHRS/AP_AHRS_Backend.h
View File

@ -146,11 +146,11 @@ public:
}
// get apparent to true airspeed ratio
float get_EAS2TAS(void) const;
static float get_EAS2TAS(void);
// return true if airspeed comes from an airspeed sensor, as
// opposed to an IMU estimate
bool airspeed_sensor_enabled(void) const {
static bool airspeed_sensor_enabled(void) {
#if AP_AIRSPEED_ENABLED
const AP_Airspeed *_airspeed = AP::airspeed();
return _airspeed != nullptr && _airspeed->use() && _airspeed->healthy();
@ -161,7 +161,7 @@ public:
// return true if airspeed comes from a specific airspeed sensor, as
// opposed to an IMU estimate
bool airspeed_sensor_enabled(uint8_t airspeed_index) const {
static bool airspeed_sensor_enabled(uint8_t airspeed_index) {
#if AP_AIRSPEED_ENABLED
const AP_Airspeed *_airspeed = AP::airspeed();
return _airspeed != nullptr && _airspeed->use(airspeed_index) && _airspeed->healthy(airspeed_index);