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AP_NavEKF : Make all compass use autodetect

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This commit is contained in:
Paul Riseborough 2014-03-09 13:54:42 +11:00 committed by priseborough
parent e485b246e7
commit 2019708056
2 changed files with 2 additions and 4 deletions
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5
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -214,7 +214,6 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
_ahrs(ahrs),
_baro(baro),
state(*reinterpret_cast<struct state_elements *>(&states)),
useCompass(true), // activates fusion of airspeed data
covTimeStepMax(0.07f), // maximum time (sec) between covariance prediction updates
covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates
TASmsecMax(200), // maximum allowed interval between airspeed measurement updates
@ -444,7 +443,7 @@ void NavEKF::InitialiseFilterBootstrap(void)
float yaw;
Matrix3f Tbn;
Vector3f initMagNED;
if (useCompass) {
if (use_compass()) {
// calculate rotation matrix from body to NED frame
Tbn.from_euler(roll, pitch, 0.0f);
@ -669,7 +668,7 @@ void NavEKF::SelectMagFusion()
readMagData();
// determine if conditions are right to start a new fusion cycle
bool dataReady = statesInitialised && useCompass && newDataMag;
bool dataReady = statesInitialised && use_compass() && newDataMag;
if (dataReady)
{
MAGmsecPrev = IMUmsec;

1
libraries/AP_NavEKF/AP_NavEKF.h
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@ -360,7 +360,6 @@ private:
ftype dt; // time lapsed since the last covariance prediction (sec)
ftype hgtRate; // state for rate of change of height filter
bool onGround; // boolean true when the flight vehicle is on the ground (not flying)
const bool useCompass; // boolean true if magnetometer data is being used
Vector6 innovVelPos; // innovation output for a group of measurements
Vector6 varInnovVelPos; // innovation variance output for a group of measurements
bool fuseVelData; // this boolean causes the velNED measurements to be fused