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AP_NavEKF2: use common structure names

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This commit is contained in:
Andrew Tridgell 2020-11-16 14:34:01 +11:00 committed by Peter Barker
parent 636fe783f4
commit 3a4095fc7f
1 changed files with 13 additions and 13 deletions
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26
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -831,7 +831,7 @@ void NavEKF2::UpdateFilter(void)
*/
void NavEKF2::checkLaneSwitch(void)
{
AP::dal().log_event2(AP_DAL::Event2::checkLaneSwitch);
AP::dal().log_event2(AP_DAL::Event::checkLaneSwitch);
const uint32_t now = AP::dal().millis();
if (lastLaneSwitch_ms != 0 && now - lastLaneSwitch_ms < 5000) {
// don't switch twice in 5 seconds
@ -992,7 +992,7 @@ void NavEKF2::getTiltError(int8_t instance, float &ang) const
// reset body axis gyro bias estimates
void NavEKF2::resetGyroBias(void)
{
AP::dal().log_event2(AP_DAL::Event2::resetGyroBias);
AP::dal().log_event2(AP_DAL::Event::resetGyroBias);
if (core) {
for (uint8_t i=0; i<num_cores; i++) {
@ -1008,7 +1008,7 @@ void NavEKF2::resetGyroBias(void)
// If using a range finder for height no reset is performed and it returns false
bool NavEKF2::resetHeightDatum(void)
{
AP::dal().log_event2(AP_DAL::Event2::resetHeightDatum);
AP::dal().log_event2(AP_DAL::Event::resetHeightDatum);
bool status = true;
if (core) {
@ -1031,7 +1031,7 @@ bool NavEKF2::resetHeightDatum(void)
// Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
uint8_t NavEKF2::setInhibitGPS(void)
{
AP::dal().log_event2(AP_DAL::Event2::setInhibitGPS);
AP::dal().log_event2(AP_DAL::Event::setInhibitGPS);
if (!core) {
return 0;
@ -1043,9 +1043,9 @@ uint8_t NavEKF2::setInhibitGPS(void)
// This can be used for situations where GPS velocity errors are causing problems with height accuracy
void NavEKF2::setInhibitGpsVertVelUse(const bool varIn) {
if (varIn) {
AP::dal().log_event2(AP_DAL::Event2::setInhibitGpsVertVelUse);
AP::dal().log_event2(AP_DAL::Event::setInhibitGpsVertVelUse);
} else {
AP::dal().log_event2(AP_DAL::Event2::unsetInhibitGpsVertVelUse);
AP::dal().log_event2(AP_DAL::Event::unsetInhibitGpsVertVelUse);
}
inhibitGpsVertVelUse = varIn;
};
@ -1308,9 +1308,9 @@ bool NavEKF2::getRangeBeaconDebug(int8_t instance, uint8_t &ID, float &rng, floa
void NavEKF2::setTakeoffExpected(bool val)
{
if (val) {
AP::dal().log_event2(AP_DAL::Event2::setTakeoffExpected);
AP::dal().log_event2(AP_DAL::Event::setTakeoffExpected);
} else {
AP::dal().log_event2(AP_DAL::Event2::unsetTakeoffExpected);
AP::dal().log_event2(AP_DAL::Event::unsetTakeoffExpected);
}
if (core) {
@ -1325,9 +1325,9 @@ void NavEKF2::setTakeoffExpected(bool val)
void NavEKF2::setTouchdownExpected(bool val)
{
if (val) {
AP::dal().log_event2(AP_DAL::Event2::setTouchdownExpected);
AP::dal().log_event2(AP_DAL::Event::setTouchdownExpected);
} else {
AP::dal().log_event2(AP_DAL::Event2::unsetTouchdownExpected);
AP::dal().log_event2(AP_DAL::Event::unsetTouchdownExpected);
}
if (core) {
@ -1344,9 +1344,9 @@ void NavEKF2::setTouchdownExpected(bool val)
void NavEKF2::setTerrainHgtStable(bool val)
{
if (val) {
AP::dal().log_event2(AP_DAL::Event2::setTerrainHgtStable);
AP::dal().log_event2(AP_DAL::Event::setTerrainHgtStable);
} else {
AP::dal().log_event2(AP_DAL::Event2::unsetTerrainHgtStable);
AP::dal().log_event2(AP_DAL::Event::unsetTerrainHgtStable);
}
if (core) {
for (uint8_t i=0; i<num_cores; i++) {
@ -1696,7 +1696,7 @@ bool NavEKF2::isExtNavUsedForYaw() const
void NavEKF2::requestYawReset(void)
{
AP::dal().log_event2(AP_DAL::Event2::requestYawReset);
AP::dal().log_event2(AP_DAL::Event::requestYawReset);
for (uint8_t i = 0; i < num_cores; i++) {
core[i].EKFGSF_requestYawReset();