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AHRS: added AHRS_GPS_USE parameter 

this allows for the GPS to be disables for position updates, which
allows for testing dead-reckoning
This commit is contained in:
Andrew Tridgell 2012-08-11 16:30:04 +10:00
parent 3b9623a44c
commit 3a92509b18
2 changed files with 11 additions and 2 deletions
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8
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -52,6 +52,12 @@ const AP_Param::GroupInfo AP_AHRS_DCM::var_info[] PROGMEM = {
// @Increment: .01
AP_GROUPINFO("GPS_GAIN", 2, AP_AHRS_DCM, gps_gain, 1.0),
// @Param: GPS_USE
// @DisplayName: enable/disable use of GPS for position estimation
// @Description: This controls how how much to use the GPS to correct the attitude. This is for testing the dead-reckoning code
// @User: Advanced
AP_GROUPINFO("GPS_USE", 3, AP_AHRS_DCM, _gps_use, 1),
AP_GROUPEND
};
@ -299,7 +305,7 @@ AP_AHRS_DCM::_P_gain(float spin_rate)
// return true if we have and should use GPS
bool AP_AHRS_DCM::have_gps(void)
{
if (!_gps || _gps->status() != GPS::GPS_OK) {
if (!_gps || _gps->status() != GPS::GPS_OK || !_gps_use) {
return false;
}
return true;

5
libraries/AP_AHRS/AP_AHRS_DCM.h
View File

@ -50,6 +50,9 @@ public:
AP_Float _kp;
AP_Float gps_gain;
// allow for runtime disabling of GPS usage for position
AP_Int8 _gps_use;
// for holding parameters
static const struct AP_Param::GroupInfo var_info[];
@ -127,7 +130,7 @@ private:
Vector3f _last_fuse;
Vector3f _last_vel;
uint32_t _last_wind_time;
float _last_airspeed;
float _last_airspeed;
};
#endif // AP_AHRS_DCM_H