From 44619525341c39725e555cf629a6048f0ce46741 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 13 Mar 2015 11:02:01 +0900 Subject: [PATCH] InertialNav: remove GPS glitch protection and baro reference --- libraries/AP_InertialNav/AP_InertialNav.h | 9 +-------- libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp | 2 +- libraries/AP_InertialNav/AP_InertialNav_NavEKF.h | 4 ++-- 3 files changed, 4 insertions(+), 11 deletions(-) diff --git a/libraries/AP_InertialNav/AP_InertialNav.h b/libraries/AP_InertialNav/AP_InertialNav.h index 2127dc53b4..da1744b24c 100644 --- a/libraries/AP_InertialNav/AP_InertialNav.h +++ b/libraries/AP_InertialNav/AP_InertialNav.h @@ -7,7 +7,6 @@ #include // ArduPilot Mega IMU Library #include // ArduPilot Mega Barometer Library #include // FIFO buffer library -#include // GPS Glitch detection library #include "../AP_NavEKF/AP_Nav_Common.h" // definitions shared by inertial and ekf nav filters /* @@ -29,9 +28,7 @@ class AP_InertialNav public: // Constructor - AP_InertialNav(AP_AHRS &ahrs) : - _ahrs(ahrs) - {} + AP_InertialNav() {} /** * update - updates velocity and position estimates using latest info from accelerometers @@ -112,10 +109,6 @@ public: * @return climbrate in cm/s (positive up) */ virtual float get_velocity_z() const = 0; - -protected: - - AP_AHRS &_ahrs; // reference to ahrs object }; #if AP_AHRS_NAVEKF_AVAILABLE diff --git a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp index c5b0b371fe..20ee98534d 100644 --- a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp +++ b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp @@ -19,7 +19,7 @@ void AP_InertialNav_NavEKF::update(float dt) _ahrs_ekf.get_NavEKF().getPosNED(_relpos_cm); _relpos_cm *= 100; // convert to cm - _haveabspos = _ahrs.get_position(_abspos); + _haveabspos = _ahrs_ekf.get_position(_abspos); _ahrs_ekf.get_NavEKF().getVelNED(_velocity_cm); _velocity_cm *= 100; // convert to cm/s diff --git a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h index 1ad9f6812b..b825580cf0 100644 --- a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h +++ b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.h @@ -16,8 +16,8 @@ class AP_InertialNav_NavEKF : public AP_InertialNav { public: // Constructor - AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs, AP_Baro &baro, GPS_Glitch& gps_glitch) : - AP_InertialNav(ahrs), + AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs) : + AP_InertialNav(), _haveabspos(false), _ahrs_ekf(ahrs) {}