Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF2: add configuredToUseGPSForPosXY

This commit is contained in:
Randy Mackay 2020-11-24 14:53:51 +09:00 committed by Andrew Tridgell
parent 07ffac429b
commit 4087d7b792
2 changed files with 10 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_NavEKF2/AP_NavEKF2.cpp
View File

@ -1694,6 +1694,13 @@ bool NavEKF2::isExtNavUsedForYaw() const
return false;
}
// check if configured to use GPS for horizontal position estimation
bool NavEKF2::configuredToUseGPSForPosXY(void) const
{
// 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity, 3 = do not use GPS
return (_fusionModeGPS.get() != 3);
}
void NavEKF2::requestYawReset(void)
{
AP::dal().log_event2(AP_DAL::Event::requestYawReset);

3
libraries/AP_NavEKF2/AP_NavEKF2.h
View File

@ -362,6 +362,9 @@ public:
// check if external navigation is being used for yaw observation
bool isExtNavUsedForYaw(void) const;
// check if configured to use GPS for horizontal position estimation
bool configuredToUseGPSForPosXY(void) const;
// Writes the default equivalent airspeed in m/s to be used in forward flight if a measured airspeed is required and not available.
void writeDefaultAirSpeed(float airspeed);