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global: remove rangefinder from AP_AHRS_NavEKF 

AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
This commit is contained in:
Lucas De Marchi 2017-08-25 11:18:56 -07:00 committed by Francisco Ferreira
parent 9027a55696
commit 40fd1b346c
10 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
APMrover2/Rover.h
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@ -165,7 +165,7 @@ private:
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
#else
AP_AHRS_DCM ahrs {ins, barometer, gps};
#endif

2
AntennaTracker/Tracker.h
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@ -118,7 +118,7 @@ private:
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rng};
NavEKF3 EKF3{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF2, EKF3};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3};
#else
AP_AHRS_DCM ahrs{ins, barometer, gps};
#endif

2
ArduCopter/Copter.h
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@ -216,7 +216,7 @@ private:
// Inertial Navigation EKF
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, rangefinder, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl;

4
ArduPlane/Plane.h
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@ -210,12 +210,12 @@ private:
AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state;
AP_RPM rpm_sensor;
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
#else
AP_AHRS_DCM ahrs {ins, barometer, gps};
#endif

2
ArduSub/Sub.h
View File

@ -186,7 +186,7 @@ private:
// Inertial Navigation EKF
NavEKF2 EKF2 {&ahrs, barometer, rangefinder};
NavEKF3 EKF3 {&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl;

2
Tools/Replay/Replay.h
View File

@ -66,7 +66,7 @@ public:
RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
NavEKF2 EKF2{&ahrs, barometer, rng};
NavEKF3 EKF3{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF2, EKF3};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
AP_InertialNav_NavEKF inertial_nav{ahrs};
AP_Vehicle::FixedWing aparm;
AP_Airspeed airspeed;

2
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -30,7 +30,7 @@
extern const AP_HAL::HAL& hal;
// constructor
AP_AHRS_NavEKF::AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng, NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags) :
AP_AHRS_NavEKF::AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags) :
AP_AHRS_DCM(ins, baro, gps),
EKF2(_EKF2),
EKF3(_EKF3),

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -45,7 +45,7 @@ public:
};
// Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng,
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps,
NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE);
// return the smoothed gyro vector corrected for drift

4
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
View File

@ -24,10 +24,10 @@ AP_SerialManager serial_manager;
class DummyVehicle {
public:
RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF2 EKF2{&ahrs, barometer, sonar};
NavEKF3 EKF3{&ahrs, barometer, sonar};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
};
static DummyVehicle vehicle;

2
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
View File

@ -27,7 +27,7 @@ public:
AP_InertialSensor ins = AP_InertialSensor::create();
AP_SerialManager serial_manager;
RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF2 EKF2{&ahrs, barometer, sonar};
NavEKF3 EKF3{&ahrs, barometer, sonar};