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AHRS: rename ekfNotStarted method to initialised

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Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
This commit is contained in:
Randy Mackay 2014-10-02 13:43:46 +09:00
parent b51d01f979
commit 29c704fecc
5 changed files with 10 additions and 15 deletions
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4
libraries/AP_AHRS/AP_AHRS.h
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@ -338,8 +338,8 @@ public:
// is the AHRS subsystem healthy? // is the AHRS subsystem healthy?
virtual bool healthy(void) = 0; virtual bool healthy(void) = 0;
// is the EKF waiting to start? // true if the AHRS has completed initialisation
virtual bool ekfNotStarted(void) = 0; virtual bool initialised(void) const { return true; };
protected: protected:
AHRS_VehicleClass _vehicle_class; AHRS_VehicleClass _vehicle_class;

5
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -937,8 +937,3 @@ bool AP_AHRS_DCM::healthy(void)
// consider ourselves healthy if there have been no failures for 5 seconds // consider ourselves healthy if there have been no failures for 5 seconds
return (_last_failure_ms == 0 || hal.scheduler->millis() - _last_failure_ms > 5000); return (_last_failure_ms == 0 || hal.scheduler->millis() - _last_failure_ms > 5000);
} }
bool AP_AHRS_DCM::ekfNotStarted(void)
{
return false;
}

3
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -106,9 +106,6 @@ public:
// is the AHRS subsystem healthy? // is the AHRS subsystem healthy?
bool healthy(void); bool healthy(void);
// is the EKF waiting to start?
bool ekfNotStarted(void);
private: private:
float _ki; float _ki;
float _ki_yaw; float _ki_yaw;

8
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -266,10 +266,12 @@ bool AP_AHRS_NavEKF::healthy(void)
return AP_AHRS_DCM::healthy(); return AP_AHRS_DCM::healthy();
} }
bool AP_AHRS_NavEKF::ekfNotStarted(void) // true if the AHRS has completed initialisation
bool AP_AHRS_NavEKF::initialised(void) const
{ {
return !ekf_started; // initialisation complete 10sec after ekf has started
} return (ekf_started && (hal.scheduler->millis() - start_time_ms > AP_AHRS_NAVEKF_SETTLE_TIME_MS));
};
#endif // AP_AHRS_NAVEKF_AVAILABLE #endif // AP_AHRS_NAVEKF_AVAILABLE

5
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -28,6 +28,7 @@
#include <AP_NavEKF.h> #include <AP_NavEKF.h>
#define AP_AHRS_NAVEKF_AVAILABLE 1 #define AP_AHRS_NAVEKF_AVAILABLE 1
#define AP_AHRS_NAVEKF_SETTLE_TIME_MS 20000 // time in milliseconds the ekf needs to settle after being started
class AP_AHRS_NavEKF : public AP_AHRS_DCM class AP_AHRS_NavEKF : public AP_AHRS_DCM
{ {
@ -95,8 +96,8 @@ public:
// is the AHRS subsystem healthy? // is the AHRS subsystem healthy?
bool healthy(void); bool healthy(void);
// is the EKF waiting to start? // true if the AHRS has completed initialisation
bool ekfNotStarted(void); bool initialised(void) const;
private: private:
bool using_EKF(void) const; bool using_EKF(void) const;