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AP_NavEKF: make the init functions return bool

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we need to know if it has initialised successfully
This commit is contained in:
Andrew Tridgell 2015-03-28 10:51:38 -07:00
parent cf15b4d4fc
commit 3289d38339
2 changed files with 10 additions and 6 deletions
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12
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -505,7 +505,7 @@ void NavEKF::ResetHeight(void)
// this function is used to initialise the filter whilst moving, using the AHRS DCM solution
// it should NOT be used to re-initialise after a timeout as DCM will also be corrupted
void NavEKF::InitialiseFilterDynamic(void)
bool NavEKF::InitialiseFilterDynamic(void)
{
// this forces healthy() to be false so that when we ask for ahrs
// attitude we get the DCM attitude regardless of the state of AHRS_EKF_USE
@ -513,7 +513,7 @@ void NavEKF::InitialiseFilterDynamic(void)
// If we are a plane and don't have GPS lock then don't initialise
if (assume_zero_sideslip() && _ahrs->get_gps().status() < AP_GPS::GPS_OK_FIX_3D) {
return;
return false;
}
// Set re-used variables to zero
@ -571,16 +571,18 @@ void NavEKF::InitialiseFilterDynamic(void)
// initialise IMU pre-processing states
readIMUData();
return true;
}
// Initialise the states from accelerometer and magnetometer data (if present)
// This method can only be used when the vehicle is static
void NavEKF::InitialiseFilterBootstrap(void)
bool NavEKF::InitialiseFilterBootstrap(void)
{
// If we are a plane and don't have GPS lock then don't initialise
if (assume_zero_sideslip() && _ahrs->get_gps().status() < AP_GPS::GPS_OK_FIX_3D) {
statesInitialised = false;
return;
return false;
}
// set re-used variables to zero
@ -664,6 +666,8 @@ void NavEKF::InitialiseFilterBootstrap(void)
// initialise IMU pre-processing states
readIMUData();
return true;
}
// Update Filter States - this should be called whenever new IMU data is available

4
libraries/AP_NavEKF/AP_NavEKF.h
View File

@ -90,11 +90,11 @@ public:
// This function is used to initialise the filter whilst moving, using the AHRS DCM solution
// It should NOT be used to re-initialise after a timeout as DCM will also be corrupted
void InitialiseFilterDynamic(void);
bool InitialiseFilterDynamic(void);
// Initialise the states from accelerometer and magnetometer data (if present)
// This method can only be used when the vehicle is static
void InitialiseFilterBootstrap(void);
bool InitialiseFilterBootstrap(void);
// Update Filter States - this should be called whenever new IMU data is available
void UpdateFilter(void);