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AP_AHRS: split home-set and home-locked state

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Peter Barker 2018-05-23 16:58:46 +10:00 committed by Andrew Tridgell
parent 1f31bd21c4
commit 3cbb88ae20
4 changed files with 12 additions and 16 deletions
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19
libraries/AP_AHRS/AP_AHRS.h
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@ -436,14 +436,18 @@ public:
return _home; return _home;
} }
enum HomeState home_status(void) const { // functions to handle locking of home. Some vehicles use this to
return _home_status; // allow GCS to lock in a home location.
void lock_home() {
_home_locked = true;
} }
void set_home_status(enum HomeState new_status) { bool home_is_locked() const {
_home_status = new_status; return _home_locked;
} }
// returns true if home is set
bool home_is_set(void) const { bool home_is_set(void) const {
return _home_status != HOME_UNSET; return _home_is_set;
} }
// set the home location in 10e7 degrees. This should be called // set the home location in 10e7 degrees. This should be called
@ -649,6 +653,8 @@ protected:
// reference position for NED positions // reference position for NED positions
struct Location _home; struct Location _home;
bool _home_is_set :1;
bool _home_locked :1;
// helper trig variables // helper trig variables
float _cos_roll, _cos_pitch, _cos_yaw; float _cos_roll, _cos_pitch, _cos_yaw;
@ -667,9 +673,6 @@ protected:
private: private:
static AP_AHRS *_singleton; static AP_AHRS *_singleton;
// Flag for if we have g_gps lock and have set the home location in AHRS
enum HomeState _home_status = HOME_UNSET;
}; };
#include "AP_AHRS_DCM.h" #include "AP_AHRS_DCM.h"

1
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -1012,6 +1012,7 @@ void AP_AHRS_DCM::set_home(const Location &loc)
{ {
_home = loc; _home = loc;
_home.options = 0; _home.options = 0;
_home_is_set = true;
} }
// a relative ground position to home in meters, Down // a relative ground position to home in meters, Down

5
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -587,11 +587,6 @@ Vector2f AP_AHRS_NavEKF::groundspeed_vector(void)
} }
} }
void AP_AHRS_NavEKF::set_home(const Location &loc)
{
AP_AHRS_DCM::set_home(loc);
}
// set the EKF's origin location in 10e7 degrees. This should only // set the EKF's origin location in 10e7 degrees. This should only
// be called when the EKF has no absolute position reference (i.e. GPS) // be called when the EKF has no absolute position reference (i.e. GPS)
// from which to decide the origin on its own // from which to decide the origin on its own

3
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -125,9 +125,6 @@ public:
// blended accelerometer values in the earth frame in m/s/s // blended accelerometer values in the earth frame in m/s/s
const Vector3f &get_accel_ef_blended() const override; const Vector3f &get_accel_ef_blended() const override;
// set home location
void set_home(const Location &loc) override;
// set the EKF's origin location in 10e7 degrees. This should only // set the EKF's origin location in 10e7 degrees. This should only
// be called when the EKF has no absolute position reference (i.e. GPS) // be called when the EKF has no absolute position reference (i.e. GPS)
// from which to decide the origin on its own // from which to decide the origin on its own