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AP_AHRS: make wind estimation configurable

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rover doesn't want it
This commit is contained in:
Andrew Tridgell 2013-05-24 11:21:23 +10:00
parent 807dbf9786
commit 14628990e6
3 changed files with 15 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -160,7 +160,7 @@ void AP_AHRS::add_trim(float roll_in_radians, float pitch_in_radians, bool save_
// correct a bearing in centi-degrees for wind
void AP_AHRS::wind_correct_bearing(int32_t &nav_bearing_cd)
{
if (!use_compass()) {
if (!use_compass() || !_flags.wind_estimation) {
// we are not using the compass - no wind correction,
// as GPS gives course over ground already
return;

6
libraries/AP_AHRS/AP_AHRS.h
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@ -53,6 +53,11 @@ public:
void set_fly_forward(bool b) {
_flags.fly_forward = b;
}
void set_wind_estimation(bool b) {
_flags.wind_estimation = b;
}
void set_compass(Compass *compass) {
_compass = compass;
if (_compass != NULL) {
@ -195,6 +200,7 @@ protected:
uint8_t fast_ground_gains : 1; // should we raise the gain on the accelerometers for faster convergence, used when disarmed for ArduCopter
uint8_t fly_forward : 1; // 1 if we can assume the aircraft will be flying forward on its X axis
uint8_t correct_centrifugal : 1; // 1 if we should correct for centrifugal forces (allows arducopter to turn this off when motors are disarmed)
uint8_t wind_estimation : 1; // 1 if we should do wind estimation
} _flags;
// pointer to compass object, if available

8
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -638,6 +638,10 @@ AP_AHRS_DCM::drift_correction(float deltat)
// update our wind speed estimate
void AP_AHRS_DCM::estimate_wind(Vector3f &velocity)
{
if (!_flags.wind_estimation) {
return;
}
// this is based on the wind speed estimation code from MatrixPilot by
// Bill Premerlani. Adaption for ArduPilot by Jon Challinger
// See http://gentlenav.googlecode.com/files/WindEstimation.pdf
@ -761,6 +765,10 @@ bool AP_AHRS_DCM::airspeed_estimate(float *airspeed_ret)
return true;
}
if (!_flags.wind_estimation) {
return false;
}
// estimate it via GPS speed and wind
if (have_gps()) {
*airspeed_ret = _last_airspeed;