From 383807e3342b3583d7cc4c60d5160a4cf0aef545 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 31 Jul 2021 17:21:38 +1000 Subject: [PATCH] AP_AHRS: move AOA state to private in frontend AP_AHRS: make update_AOA_SSA non-virtual --- libraries/AP_AHRS/AP_AHRS.h | 10 +++++++--- libraries/AP_AHRS/AP_AHRS_Backend.h | 4 ---- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h index b74ec32637..383a3e1052 100644 --- a/libraries/AP_AHRS/AP_AHRS.h +++ b/libraries/AP_AHRS/AP_AHRS.h @@ -331,9 +331,6 @@ public: // write AOA and SSA information to dataflash logs: void Write_AOA_SSA(void) const; - // update AOA and SSA values - virtual void update_AOA_SSA(void); - // return AOA float getAOA(void) const { return _AOA; } @@ -408,6 +405,13 @@ private: TriState terrainHgtStableState = TriState::UNKNOWN; + /* + * private AOA and SSA-related state and methods + */ + float _AOA, _SSA; + uint32_t _last_AOA_update_ms; + void update_AOA_SSA(void); + EKFType last_active_ekf_type; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.h b/libraries/AP_AHRS/AP_AHRS_Backend.h index 8b90e502c6..21a557aa94 100644 --- a/libraries/AP_AHRS/AP_AHRS_Backend.h +++ b/libraries/AP_AHRS/AP_AHRS_Backend.h @@ -645,10 +645,6 @@ protected: // which accelerometer instance is active uint8_t _active_accel_instance; - // AOA and SSA - float _AOA, _SSA; - uint32_t _last_AOA_update_ms; - private: uint32_t takeoff_expected_start_ms;