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AP_InertialNav: Remove unneeded methods

This commit is contained in:
Michael du Breuil 2019-06-28 13:56:04 +00:00 committed by Randy Mackay
parent bbcb976e73
commit 13840337ec
3 changed files with 3 additions and 99 deletions
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29
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -27,23 +27,14 @@ public:
/**
* update - updates velocity and position estimates using latest info from accelerometers
* augmented with gps and baro readings
*
* @param dt : time since last update in seconds
*/
virtual void update(float dt) = 0;
virtual void update(void) = 0;
/**
* get_filter_status : returns filter status as a series of flags
*/
virtual nav_filter_status get_filter_status() const = 0;
/**
* get_origin - returns the inertial navigation origin in lat/lon/alt
*
* @return origin Location
*/
virtual struct Location get_origin() const = 0;
//
// XY Axis specific methods
//
@ -55,24 +46,6 @@ public:
*/
virtual const Vector3f& get_position() const = 0;
/**
* get_llh - updates the provided location with the latest calculated location including absolute altitude
* returns true on success (i.e. the EKF knows it's latest position), false on failure
*/
virtual bool get_location(struct Location &loc) const = 0;
/**
* get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
* @return
*/
virtual int32_t get_latitude() const = 0;
/**
* get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
* @return
*/
virtual int32_t get_longitude() const = 0;
/**
* get_velocity - returns the current velocity in cm/s
*

44
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
View File

@ -12,7 +12,7 @@
/**
update internal state
*/
void AP_InertialNav_NavEKF::update(float dt)
void AP_InertialNav_NavEKF::update()
{
// get the NE position relative to the local earth frame origin
Vector2f posNE;
@ -27,9 +27,6 @@ void AP_InertialNav_NavEKF::update(float dt)
_relpos_cm.z = - posD * 100; // convert from m in NED to cm in NEU
}
// get the absolute WGS-84 position
_haveabspos = _ahrs_ekf.get_position(_abspos);
// get the velocity relative to the local earth frame
Vector3f velNED;
if (_ahrs_ekf.get_velocity_NED(velNED)) {
@ -48,19 +45,6 @@ nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
return status;
}
/**
* get_origin - returns the inertial navigation origin in lat/lon/alt
*/
struct Location AP_InertialNav_NavEKF::get_origin() const
{
struct Location ret;
if (!_ahrs_ekf.get_origin(ret)) {
// initialise location to all zeros if EKF origin not yet set
ret.zero();
}
return ret;
}
/**
* get_position - returns the current position relative to the home location in cm.
*
@ -71,32 +55,6 @@ const Vector3f &AP_InertialNav_NavEKF::get_position(void) const
return _relpos_cm;
}
/**
* get_location - updates the provided location with the latest calculated location
* returns true on success (i.e. the EKF knows it's latest position), false on failure
*/
bool AP_InertialNav_NavEKF::get_location(struct Location &loc) const
{
return _ahrs_ekf.get_location(loc);
}
/**
* get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
*/
int32_t AP_InertialNav_NavEKF::get_latitude() const
{
return _abspos.lat;
}
/**
* get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
* @return
*/
int32_t AP_InertialNav_NavEKF::get_longitude() const
{
return _abspos.lng;
}
/**
* get_velocity - returns the current velocity in cm/s
*

29
libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
View File

@ -13,27 +13,19 @@ public:
// Constructor
AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs) :
AP_InertialNav(),
_haveabspos(false),
_ahrs_ekf(ahrs)
{}
/**
update internal state
*/
void update(float dt) override;
void update() override;
/**
* get_filter_status - returns filter status as a series of flags
*/
nav_filter_status get_filter_status() const override;
/**
* get_origin - returns the inertial navigation origin in lat/lon/alt
*
* @return origin Location
*/
struct Location get_origin() const override;
/**
* get_position - returns the current position relative to the home location in cm.
*
@ -43,23 +35,6 @@ public:
*/
const Vector3f& get_position() const override;
/**
* get_llh - updates the provided location with the latest calculated location including absolute altitude
* returns true on success (i.e. the EKF knows it's latest position), false on failure
*/
bool get_location(struct Location &loc) const override;
/**
* get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
*/
int32_t get_latitude() const override;
/**
* get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
* @return
*/
int32_t get_longitude() const override;
/**
* get_velocity - returns the current velocity in cm/s
*
@ -95,7 +70,5 @@ public:
private:
Vector3f _relpos_cm; // NEU
Vector3f _velocity_cm; // NEU
struct Location _abspos;
bool _haveabspos;
AP_AHRS_NavEKF &_ahrs_ekf;
};