Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF3: avoid using struct Location 

clang reports this could be a problem when compiling under some EABIs.  Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
This commit is contained in:
Peter Barker 2023-02-03 09:58:39 +11:00 committed by Peter Barker
parent 38c6eb24cd
commit 35a5a73f52
6 changed files with 17 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_NavEKF3/AP_NavEKF3.cpp
View File

@ -1356,7 +1356,7 @@ bool NavEKF3::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
// If a calculated location isn't available, return a raw GPS measurement
// The status will return true if a calculation or raw measurement is available
// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
bool NavEKF3::getLLH(struct Location &loc) const
bool NavEKF3::getLLH(Location &loc) const
{
if (!core) {
return false;
@ -1367,7 +1367,7 @@ bool NavEKF3::getLLH(struct Location &loc) const
// Return the latitude and longitude and height used to set the NED origin
// All NED positions calculated by the filter are relative to this location
// Returns false if the origin has not been set
bool NavEKF3::getOriginLLH(struct Location &loc) const
bool NavEKF3::getOriginLLH(Location &loc) const
{
if (!core) {
return false;

6
libraries/AP_NavEKF3/AP_NavEKF3.h
View File

@ -139,12 +139,12 @@ public:
// If a calculated location isn't available, return a raw GPS measurement
// The status will return true if a calculation or raw measurement is available
// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
bool getLLH(struct Location &loc) const;
bool getLLH(Location &loc) const;
// Return the latitude and longitude and height used to set the NED origin
// All NED positions calculated by the filter are relative to this location
// Returns false if the origin has not been set
bool getOriginLLH(struct Location &loc) const;
bool getOriginLLH(Location &loc) const;
// set the latitude and longitude and height used to set the NED origin
// All NED positions calculated by the filter will be relative to this location
@ -525,7 +525,7 @@ private:
uint64_t coreLastTimePrimary_us[MAX_EKF_CORES]; // last time we were using this core as primary
// origin set by one of the cores
struct Location common_EKF_origin;
Location common_EKF_origin;
bool common_origin_valid;
// update the yaw reset data to capture changes due to a lane switch

2
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
View File

@ -645,7 +645,7 @@ void NavEKF3_core::readGpsData()
calcGpsGoodForFlight();
// Read the GPS location in WGS-84 lat,long,height coordinates
const struct Location &gpsloc = gps.location(selected_gps);
const Location &gpsloc = gps.location(selected_gps);
// Set the EKF origin and magnetic field declination if not previously set and GPS checks have passed
if (gpsGoodToAlign && !validOrigin) {

8
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
View File

@ -232,7 +232,7 @@ bool NavEKF3_core::getPosNE(Vector2f &posNE) const
auto &gps = dal.gps();
if ((gps.status(selected_gps) >= AP_DAL_GPS::GPS_OK_FIX_2D)) {
// If the origin has been set and we have GPS, then return the GPS position relative to the origin
const struct Location &gpsloc = gps.location(selected_gps);
const Location &gpsloc = gps.location(selected_gps);
posNE = public_origin.get_distance_NE_ftype(gpsloc).tofloat();
return false;
#if EK3_FEATURE_BEACON_FUSION
@ -304,7 +304,7 @@ bool NavEKF3_core::getHAGL(float &HAGL) const
// If a calculated location isn't available, return a raw GPS measurement
// The status will return true if a calculation or raw measurement is available
// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
bool NavEKF3_core::getLLH(struct Location &loc) const
bool NavEKF3_core::getLLH(Location &loc) const
{
Location origin;
if (getOriginLLH(origin)) {
@ -351,7 +351,7 @@ bool NavEKF3_core::getLLH(struct Location &loc) const
}
}
bool NavEKF3_core::getGPSLLH(struct Location &loc) const
bool NavEKF3_core::getGPSLLH(Location &loc) const
{
const auto &gps = dal.gps();
if ((gps.status(selected_gps) >= AP_DAL_GPS::GPS_OK_FIX_3D)) {
@ -384,7 +384,7 @@ void NavEKF3_core::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGa
// return the LLH location of the filters NED origin
bool NavEKF3_core::getOriginLLH(struct Location &loc) const
bool NavEKF3_core::getOriginLLH(Location &loc) const
{
if (validOrigin) {
loc = public_origin;

2
libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
View File

@ -48,7 +48,7 @@ void NavEKF3_core::calcGpsGoodToAlign(void)
// This check can only be used when the vehicle is stationary
const auto &gps = dal.gps();
const struct Location &gpsloc = gps.location(preferred_gps); // Current location
const Location &gpsloc = gps.location(preferred_gps); // Current location
const ftype posFiltTimeConst = 10.0; // time constant used to decay position drift
// calculate time lapsed since last update and limit to prevent numerical errors
ftype deltaTime = constrain_ftype(ftype(imuDataDelayed.time_ms - lastPreAlignGpsCheckTime_ms)*0.001f,0.01f,posFiltTimeConst);

12
libraries/AP_NavEKF3/AP_NavEKF3_core.h
View File

@ -209,12 +209,12 @@ public:
// If a calculated location isn't available, return a raw GPS measurement
// The status will return true if a calculation or raw measurement is available
// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
bool getLLH(struct Location &loc) const;
bool getLLH(Location &loc) const;
// return the latitude and longitude and height used to set the NED origin
// All NED positions calculated by the filter are relative to this location
// Returns false if the origin has not been set
bool getOriginLLH(struct Location &loc) const;
bool getOriginLLH(Location &loc) const;
// set the latitude and longitude and height used to set the NED origin
// All NED positions calculated by the filter will be relative to this location
@ -1011,7 +1011,7 @@ private:
void SelectDragFusion();
void SampleDragData(const imu_elements &imu);
bool getGPSLLH(struct Location &loc) const;
bool getGPSLLH(Location &loc) const;
// Variables
bool statesInitialised; // boolean true when filter states have been initialised
@ -1101,8 +1101,8 @@ private:
bool needEarthBodyVarReset; // we need to reset mag earth variances at next CovariancePrediction
bool inhibitDelAngBiasStates; // true when IMU delta angle bias states are inactive
bool gpsIsInUse; // bool true when GPS data is being used to correct states estimates
struct Location EKF_origin; // LLH origin of the NED axis system, internal only
struct Location &public_origin; // LLH origin of the NED axis system, public functions
Location EKF_origin; // LLH origin of the NED axis system, internal only
Location &public_origin; // LLH origin of the NED axis system, public functions
bool validOrigin; // true when the EKF origin is valid
ftype gpsSpdAccuracy; // estimated speed accuracy in m/s returned by the GPS receiver
ftype gpsPosAccuracy; // estimated position accuracy in m returned by the GPS receiver
@ -1194,7 +1194,7 @@ private:
} vertCompFiltState;
// variables used by the pre-initialisation GPS checks
struct Location gpsloc_prev; // LLH location of previous GPS measurement
Location gpsloc_prev; // LLH location of previous GPS measurement
uint32_t lastPreAlignGpsCheckTime_ms; // last time in msec the GPS quality was checked during pre alignment checks
ftype gpsDriftNE; // amount of drift detected in the GPS position during pre-flight GPs checks
ftype gpsVertVelFilt; // amount of filtered vertical GPS velocity detected during pre-flight GPS checks