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Copter: integrate ahrs::get_variances change 

offset is no longer returned
This commit is contained in:
Randy Mackay 2020-10-20 13:24:28 +09:00
parent 6a72805f07
commit 248d80eb37
2 changed files with 3 additions and 6 deletions
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3
ArduCopter/AP_Arming.cpp
View File

@ -556,8 +556,7 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
// check EKF compass variance is below failsafe threshold
float vel_variance, pos_variance, hgt_variance, tas_variance;
Vector3f mag_variance;
Vector2f offset;
ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance, offset);
ahrs.get_variances(vel_variance, pos_variance, hgt_variance, mag_variance, tas_variance);
if (copter.g.fs_ekf_thresh > 0 && mag_variance.length() >= copter.g.fs_ekf_thresh) {
check_failed(display_failure, "EKF compass variance");
return false;

6
ArduCopter/ekf_check.cpp
View File

@ -108,8 +108,7 @@ bool Copter::ekf_over_threshold()
// use EKF to get variance
float position_variance, vel_variance, height_variance, tas_variance;
Vector3f mag_variance;
Vector2f offset;
ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance, offset);
ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance);
const float mag_max = fmaxf(fmaxf(mag_variance.x,mag_variance.y),mag_variance.z);
@ -237,8 +236,7 @@ void Copter::check_vibration()
// check if vertical velocity variance is at least 1 (NK4.SV >= 1.0)
float position_variance, vel_variance, height_variance, tas_variance;
Vector3f mag_variance;
Vector2f offset;
if (!ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance, offset)) {
if (!ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance)) {
checks_succeeded = false;
}