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global: remove rangefinder from AP_AHRS_NavEKF

Browse Source 
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 #if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rangefinder}; NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF3 EKF3{&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 #else
AP_AHRS_DCM ahrs {ins, barometer, gps}; AP_AHRS_DCM ahrs {ins, barometer, gps};
#endif #endif

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

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

2
ArduPlane/Plane.h
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@ -215,7 +215,7 @@ private:
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rangefinder}; NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF3 EKF3{&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 #else
AP_AHRS_DCM ahrs {ins, barometer, gps}; AP_AHRS_DCM ahrs {ins, barometer, gps};
#endif #endif

2
ArduSub/Sub.h
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@ -186,7 +186,7 @@ private:
// Inertial Navigation EKF // Inertial Navigation EKF
NavEKF2 EKF2 {&ahrs, barometer, rangefinder}; NavEKF2 EKF2 {&ahrs, barometer, rangefinder};
NavEKF3 EKF3 {&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 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl; SITL::SITL sitl;

2
Tools/Replay/Replay.h
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@ -66,7 +66,7 @@ public:
RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270); RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
NavEKF2 EKF2{&ahrs, barometer, rng}; NavEKF2 EKF2{&ahrs, barometer, rng};
NavEKF3 EKF3{&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_InertialNav_NavEKF inertial_nav{ahrs};
AP_Vehicle::FixedWing aparm; AP_Vehicle::FixedWing aparm;
AP_Airspeed airspeed; 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; extern const AP_HAL::HAL& hal;
// constructor // 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), AP_AHRS_DCM(ins, baro, gps),
EKF2(_EKF2), EKF2(_EKF2),
EKF3(_EKF3), EKF3(_EKF3),

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

4
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
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@ -24,10 +24,10 @@ AP_SerialManager serial_manager;
class DummyVehicle { class DummyVehicle {
public: public:
RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270); 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}; NavEKF2 EKF2{&ahrs, barometer, sonar};
NavEKF3 EKF3{&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; static DummyVehicle vehicle;

2
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
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@ -27,7 +27,7 @@ public:
AP_InertialSensor ins = AP_InertialSensor::create(); AP_InertialSensor ins = AP_InertialSensor::create();
AP_SerialManager serial_manager; AP_SerialManager serial_manager;
RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270); 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}; AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF2 EKF2{&ahrs, barometer, sonar}; NavEKF2 EKF2{&ahrs, barometer, sonar};
NavEKF3 EKF3{&ahrs, barometer, sonar}; NavEKF3 EKF3{&ahrs, barometer, sonar};