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AP_NavEKF2: 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 03f5c321b0
commit 38c6eb24cd
6 changed files with 15 additions and 15 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -1070,7 +1070,7 @@ bool NavEKF2::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 NavEKF2::getLLH(struct Location &loc) const
bool NavEKF2::getLLH(Location &loc) const
{
if (!core) {
return false;
@ -1082,7 +1082,7 @@ bool NavEKF2::getLLH(struct Location &loc) const
// An out of range instance (eg -1) returns data for the primary instance
// All NED positions calculated by the filter are relative to this location
// Returns false if the origin has not been set
bool NavEKF2::getOriginLLH(struct Location &loc) const
bool NavEKF2::getOriginLLH(Location &loc) const
{
if (!core) {
return false;

6
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -129,13 +129,13 @@ 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 for the specified instance
// An out of range instance (eg -1) returns data for the primary instance
// 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
@ -399,7 +399,7 @@ private:
const float maxYawEstVelInnov = 2.0f; // Maximum acceptable length of the velocity innovation returned by the EKF-GSF yaw estimator (m/s)
// origin set by one of the cores
struct Location common_EKF_origin;
Location common_EKF_origin;
bool common_origin_valid;
// time at start of current filter update

2
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -594,7 +594,7 @@ void NavEKF2_core::readGpsData()
}
// Read the GPS location in WGS-84 lat,long,height coordinates
const struct Location &gpsloc = gps.location();
const Location &gpsloc = gps.location();
// Set the EKF origin and magnetic field declination if not previously set and GPS checks have passed
if (gpsGoodToAlign && !validOrigin) {

8
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -220,7 +220,7 @@ bool NavEKF2_core::getPosNE(Vector2f &posNE) const
if(validOrigin) {
if ((dal.gps().status(dal.gps().primary_sensor()) >= 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 = dal.gps().location();
const Location &gpsloc = dal.gps().location();
const Vector2F tempPosNE = EKF_origin.get_distance_NE_ftype(gpsloc);
posNE.x = tempPosNE.x;
posNE.y = tempPosNE.y;
@ -280,7 +280,7 @@ bool NavEKF2_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 NavEKF2_core::getLLH(struct Location &loc) const
bool NavEKF2_core::getLLH(Location &loc) const
{
const auto &gps = dal.gps();
Location origin;
@ -302,7 +302,7 @@ bool NavEKF2_core::getLLH(struct Location &loc) const
// in this mode we cannot use the EKF states to estimate position so will return the best available data
if ((gps.status() >= AP_DAL_GPS::GPS_OK_FIX_2D)) {
// we have a GPS position fix to return
const struct Location &gpsloc = gps.location();
const Location &gpsloc = gps.location();
loc.lat = gpsloc.lat;
loc.lng = gpsloc.lng;
return true;
@ -347,7 +347,7 @@ void NavEKF2_core::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGa
// return the LLH location of the filters NED origin
bool NavEKF2_core::getOriginLLH(struct Location &loc) const
bool NavEKF2_core::getOriginLLH(Location &loc) const
{
if (validOrigin) {
loc = EKF_origin;

2
libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
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@ -52,7 +52,7 @@ void NavEKF2_core::calcGpsGoodToAlign(void)
// Check for significant change in GPS position if disarmed which indicates bad GPS
// This check can only be used when the vehicle is stationary
const struct Location &gpsloc = gps.location(); // Current location
const Location &gpsloc = gps.location(); // Current location
const ftype posFiltTimeConst = 10.0f; // time constant used to decay position drift
// calculate time lapsed since last update and limit to prevent numerical errors
ftype deltaTime = constrain_ftype(float(imuDataDelayed.time_ms - lastPreAlignGpsCheckTime_ms)*0.001f,0.01f,posFiltTimeConst);

8
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -164,12 +164,12 @@ 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
@ -861,7 +861,7 @@ private:
bool needMagBodyVarReset; // we need to reset mag body variances at next CovariancePrediction
bool gpsNotAvailable; // bool true when valid GPS data is not available
uint8_t last_gps_idx; // sensor ID of the GPS receiver used for the last fusion or reset
struct Location EKF_origin; // LLH origin of the NED axis system
Location EKF_origin; // LLH origin of the NED axis system
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
@ -948,7 +948,7 @@ 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 filterred vertical GPS velocity detected durng pre-flight GPS checks