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AP_NavEKF2: remove getFilterTimeouts access methods

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This commit is contained in:
Peter Barker 2021-01-21 18:02:07 +11:00 committed by Peter Barker
parent 30836535d0
commit 445a461f12
6 changed files with 8 additions and 60 deletions
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21
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -1307,27 +1307,6 @@ void NavEKF2::getFilterFaults(int8_t instance, uint16_t &faults) const
}
}
/*
return filter timeout status as a bitmasked integer
0 = position measurement timeout
1 = velocity measurement timeout
2 = height measurement timeout
3 = magnetometer measurement timeout
4 = unassigned
5 = unassigned
6 = unassigned
7 = unassigned
*/
void NavEKF2::getFilterTimeouts(int8_t instance, uint8_t &timeouts) const
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[instance].getFilterTimeouts(timeouts);
} else {
timeouts = 0;
}
}
/*
return filter status flags
*/

14
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -220,20 +220,6 @@ public:
*/
void getFilterFaults(int8_t instance, uint16_t &faults) const;
/*
return filter timeout status as a bitmasked integer for the specified instance
An out of range instance (eg -1) returns data for the primary instance
0 = position measurement timeout
1 = velocity measurement timeout
2 = height measurement timeout
3 = magnetometer measurement timeout
4 = unassigned
5 = unassigned
6 = unassigned
7 = unassigned
*/
void getFilterTimeouts(int8_t instance, uint8_t &timeouts) const;
/*
return filter gps quality check status for the specified instance
An out of range instance (eg -1) returns data for the primary instance

9
libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp
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@ -119,13 +119,18 @@ void NavEKF2_core::Log_Write_NKF4(uint64_t time_us) const
float tasVar = 0;
Vector2f offset;
uint16_t _faultStatus=0;
uint8_t timeoutStatus=0;
const uint8_t timeoutStatus =
posTimeout<<0 |
velTimeout<<1 |
hgtTimeout<<2 |
magTimeout<<3 |
tasTimeout<<4;
nav_filter_status solutionStatus {};
nav_gps_status gpsStatus {};
getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
float tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
getFilterFaults(_faultStatus);
getFilterTimeouts(timeoutStatus);
getFilterStatus(solutionStatus);
getFilterGpsStatus(gpsStatus);
const struct log_NKF4 pkt4{

9
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -465,15 +465,6 @@ return filter timeout status as a bitmasked integer
6 = unassigned
7 = unassigned
*/
void NavEKF2_core::getFilterTimeouts(uint8_t &timeouts) const
{
timeouts = (posTimeout<<0 |
velTimeout<<1 |
hgtTimeout<<2 |
magTimeout<<3 |
tasTimeout<<4);
}
// Return the navigation filter status message
void NavEKF2_core::getFilterStatus(nav_filter_status &status) const
{

13
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -234,19 +234,6 @@ public:
*/
void getFilterFaults(uint16_t &faults) const;
/*
return filter timeout status as a bitmasked integer
0 = position measurement timeout
1 = velocity measurement timeout
2 = height measurement timeout
3 = magnetometer measurement timeout
5 = unassigned
6 = unassigned
7 = unassigned
7 = unassigned
*/
void getFilterTimeouts(uint8_t &timeouts) const;
/*
return filter gps quality check status
*/

2
libraries/AP_NavEKF2/LogStructure.h
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@ -178,7 +178,7 @@ struct PACKED log_NKF3 {
// @Field: OFN: Most recent position recent magnitude (North component)
// @Field: OFE: Most recent position recent magnitude (East component)
// @Field: FS: Filter fault status
// @Field: TS: Filter timeout status
// @Field: TS: Filter timeout status bitmask (0:position measurement, 1:velocity measurement, 2:height measurement, 3:magnetometer measurement, 4:airspeed measurement)
// @Field: SS: Filter solution status
// @Field: GPS: Filter GPS status
// @Field: PI: Primary core index