Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: rename EKFType::NONE to EKFType::DCM

Browse Source
This commit is contained in:
Peter Barker 2023-09-20 08:55:39 +10:00 committed by Andrew Tridgell
parent 613524d7d5
commit 53d12ab46d
2 changed files with 68 additions and 68 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

134
libraries/AP_AHRS/AP_AHRS.cpp
View File

@ -427,7 +427,7 @@ void AP_AHRS::update(bool skip_ins_update)
last_active_ekf_type = state.active_EKF; last_active_ekf_type = state.active_EKF;
const char *shortname = "???"; const char *shortname = "???";
switch ((EKFType)state.active_EKF) { switch ((EKFType)state.active_EKF) {
case EKFType::NONE: case EKFType::DCM:
shortname = "DCM"; shortname = "DCM";
break; break;
#if AP_AHRS_SIM_ENABLED #if AP_AHRS_SIM_ENABLED
@ -502,7 +502,7 @@ void AP_AHRS::update_DCM()
// an EKF or external AHRS. This is long-held behaviour, but this // an EKF or external AHRS. This is long-held behaviour, but this
// really shouldn't be doing this. // really shouldn't be doing this.
// if (active_EKF_type() == EKFType::NONE) { // if (active_EKF_type() == EKFType::DCM) {
copy_estimates_from_backend_estimates(dcm_estimates); copy_estimates_from_backend_estimates(dcm_estimates);
// } // }
} }
@ -702,7 +702,7 @@ void AP_AHRS::reset()
bool AP_AHRS::_get_location(Location &loc) const bool AP_AHRS::_get_location(Location &loc) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm_estimates.get_location(loc); return dcm_estimates.get_location(loc);
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -754,7 +754,7 @@ float AP_AHRS::get_error_yaw(void) const
bool AP_AHRS::_wind_estimate(Vector3f &wind) const bool AP_AHRS::_wind_estimate(Vector3f &wind) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.wind_estimate(wind); return dcm.wind_estimate(wind);
#if AP_AHRS_SIM_ENABLED #if AP_AHRS_SIM_ENABLED
@ -838,7 +838,7 @@ bool AP_AHRS::_airspeed_estimate(float &airspeed_ret) const
bool have_wind = false; bool have_wind = false;
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.airspeed_estimate(get_active_airspeed_index(), airspeed_ret); return dcm.airspeed_estimate(get_active_airspeed_index(), airspeed_ret);
#if AP_AHRS_SIM_ENABLED #if AP_AHRS_SIM_ENABLED
@ -887,7 +887,7 @@ bool AP_AHRS::_airspeed_estimate(float &airspeed_ret) const
bool AP_AHRS::_airspeed_estimate_true(float &airspeed_ret) const bool AP_AHRS::_airspeed_estimate_true(float &airspeed_ret) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.airspeed_estimate_true(airspeed_ret); return dcm.airspeed_estimate_true(airspeed_ret);
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO:
@ -916,7 +916,7 @@ bool AP_AHRS::_airspeed_estimate_true(float &airspeed_ret) const
bool AP_AHRS::_airspeed_vector_true(Vector3f &vec) const bool AP_AHRS::_airspeed_vector_true(Vector3f &vec) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
break; break;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO:
@ -946,7 +946,7 @@ bool AP_AHRS::_airspeed_vector_true(Vector3f &vec) const
bool AP_AHRS::airspeed_health_data(float &innovation, float &innovationVariance, uint32_t &age_ms) const bool AP_AHRS::airspeed_health_data(float &innovation, float &innovationVariance, uint32_t &age_ms) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
break; break;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO:
@ -984,7 +984,7 @@ bool AP_AHRS::synthetic_airspeed(float &ret) const
bool AP_AHRS::use_compass(void) bool AP_AHRS::use_compass(void)
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
break; break;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO:
@ -1015,7 +1015,7 @@ bool AP_AHRS::_get_quaternion(Quaternion &quat) const
// backends always return in autopilot XYZ frame; rotate result // backends always return in autopilot XYZ frame; rotate result
// according to trim // according to trim
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
if (!dcm.get_quaternion(quat)) { if (!dcm.get_quaternion(quat)) {
return false; return false;
} }
@ -1065,7 +1065,7 @@ bool AP_AHRS::_get_secondary_attitude(Vector3f &eulers) const
switch (secondary_ekf_type) { switch (secondary_ekf_type) {
case EKFType::NONE: case EKFType::DCM:
// DCM is secondary // DCM is secondary
eulers[0] = dcm_estimates.roll_rad; eulers[0] = dcm_estimates.roll_rad;
eulers[1] = dcm_estimates.pitch_rad; eulers[1] = dcm_estimates.pitch_rad;
@ -1118,7 +1118,7 @@ bool AP_AHRS::_get_secondary_quaternion(Quaternion &quat) const
switch (secondary_ekf_type) { switch (secondary_ekf_type) {
case EKFType::NONE: case EKFType::DCM:
// DCM is secondary // DCM is secondary
if (!dcm.get_quaternion(quat)) { if (!dcm.get_quaternion(quat)) {
return false; return false;
@ -1173,7 +1173,7 @@ bool AP_AHRS::_get_secondary_position(Location &loc) const
switch (secondary_ekf_type) { switch (secondary_ekf_type) {
case EKFType::NONE: case EKFType::DCM:
// return DCM position // return DCM position
loc = dcm_estimates.location; loc = dcm_estimates.location;
// FIXME: we intentionally do not return whether location is // FIXME: we intentionally do not return whether location is
@ -1216,7 +1216,7 @@ bool AP_AHRS::_get_secondary_position(Location &loc) const
Vector2f AP_AHRS::_groundspeed_vector(void) Vector2f AP_AHRS::_groundspeed_vector(void)
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
break; break;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -1251,7 +1251,7 @@ Vector2f AP_AHRS::_groundspeed_vector(void)
float AP_AHRS::_groundspeed(void) float AP_AHRS::_groundspeed(void)
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.groundspeed(); return dcm.groundspeed();
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO:
@ -1288,7 +1288,7 @@ bool AP_AHRS::set_origin(const Location &loc)
// return success if active EKF's origin was set // return success if active EKF's origin was set
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return false; return false;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -1330,7 +1330,7 @@ bool AP_AHRS::handle_external_position_estimate(const Location &loc, float pos_a
// return true if inertial navigation is active // return true if inertial navigation is active
bool AP_AHRS::have_inertial_nav(void) const bool AP_AHRS::have_inertial_nav(void) const
{ {
return active_EKF_type() != EKFType::NONE; return active_EKF_type() != EKFType::DCM;
} }
// return a ground velocity in meters/second, North/East/Down // return a ground velocity in meters/second, North/East/Down
@ -1338,7 +1338,7 @@ bool AP_AHRS::have_inertial_nav(void) const
bool AP_AHRS::_get_velocity_NED(Vector3f &vec) const bool AP_AHRS::_get_velocity_NED(Vector3f &vec) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
break; break;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -1369,7 +1369,7 @@ bool AP_AHRS::_get_velocity_NED(Vector3f &vec) const
bool AP_AHRS::get_mag_field_NED(Vector3f &vec) const bool AP_AHRS::get_mag_field_NED(Vector3f &vec) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return false; return false;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -1400,7 +1400,7 @@ bool AP_AHRS::get_mag_field_NED(Vector3f &vec) const
bool AP_AHRS::get_mag_field_correction(Vector3f &vec) const bool AP_AHRS::get_mag_field_correction(Vector3f &vec) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return false; return false;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -1433,7 +1433,7 @@ bool AP_AHRS::get_mag_field_correction(Vector3f &vec) const
bool AP_AHRS::get_vert_pos_rate_D(float &velocity) const bool AP_AHRS::get_vert_pos_rate_D(float &velocity) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.get_vert_pos_rate_D(velocity); return dcm.get_vert_pos_rate_D(velocity);
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -1465,7 +1465,7 @@ bool AP_AHRS::get_vert_pos_rate_D(float &velocity) const
bool AP_AHRS::get_hagl(float &height) const bool AP_AHRS::get_hagl(float &height) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return false; return false;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -1498,7 +1498,7 @@ bool AP_AHRS::get_hagl(float &height) const
bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.get_relative_position_NED_origin(vec); return dcm.get_relative_position_NED_origin(vec);
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -1565,7 +1565,7 @@ bool AP_AHRS::get_relative_position_NED_home(Vector3f &vec) const
bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.get_relative_position_NE_origin(posNE); return dcm.get_relative_position_NE_origin(posNE);
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -1620,7 +1620,7 @@ bool AP_AHRS::get_relative_position_NE_home(Vector2f &posNE) const
bool AP_AHRS::get_relative_position_D_origin(float &posD) const bool AP_AHRS::get_relative_position_D_origin(float &posD) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.get_relative_position_D_origin(posD); return dcm.get_relative_position_D_origin(posD);
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -1703,7 +1703,7 @@ AP_AHRS::EKFType AP_AHRS::ekf_type(void) const
case EKFType::THREE: case EKFType::THREE:
return type; return type;
#endif #endif
case EKFType::NONE: case EKFType::DCM:
if (always_use_EKF()) { if (always_use_EKF()) {
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
return EKFType::TWO; return EKFType::TWO;
@ -1711,7 +1711,7 @@ AP_AHRS::EKFType AP_AHRS::ekf_type(void) const
return EKFType::THREE; return EKFType::THREE;
#endif #endif
} }
return EKFType::NONE; return EKFType::DCM;
} }
// we can get to here if the user has mis-set AHRS_EKF_TYPE - any // we can get to here if the user has mis-set AHRS_EKF_TYPE - any
// value above 3 will get to here. TWO is returned here for no // value above 3 will get to here. TWO is returned here for no
@ -1721,23 +1721,23 @@ AP_AHRS::EKFType AP_AHRS::ekf_type(void) const
#elif HAL_NAVEKF3_AVAILABLE #elif HAL_NAVEKF3_AVAILABLE
return EKFType::THREE; return EKFType::THREE;
#else #else
return EKFType::NONE; return EKFType::DCM;
#endif #endif
} }
AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
{ {
EKFType ret = EKFType::NONE; EKFType ret = EKFType::DCM;
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::DCM:
return EKFType::NONE; return EKFType::DCM;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: { case EKFType::TWO: {
// do we have an EKF2 yet? // do we have an EKF2 yet?
if (!_ekf2_started) { if (!_ekf2_started) {
return EKFType::NONE; return EKFType::DCM;
} }
if (always_use_EKF()) { if (always_use_EKF()) {
uint16_t ekf2_faults; uint16_t ekf2_faults;
@ -1756,7 +1756,7 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
case EKFType::THREE: { case EKFType::THREE: {
// do we have an EKF3 yet? // do we have an EKF3 yet?
if (!_ekf3_started) { if (!_ekf3_started) {
return EKFType::NONE; return EKFType::DCM;
} }
if (always_use_EKF()) { if (always_use_EKF()) {
uint16_t ekf3_faults; uint16_t ekf3_faults;
@ -1790,7 +1790,7 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
and we are disarmed. This is to ensure that the arming checks do and we are disarmed. This is to ensure that the arming checks do
wait for good GPS position on fixed wing and rover wait for good GPS position on fixed wing and rover
*/ */
if (ret != EKFType::NONE && if (ret != EKFType::DCM &&
(_vehicle_class == VehicleClass::FIXED_WING || (_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND)) { _vehicle_class == VehicleClass::GROUND)) {
if (!dcm.yaw_source_available() && !fly_forward) { if (!dcm.yaw_source_available() && !fly_forward) {
@ -1833,15 +1833,15 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
// prefer to use the GPS position from DCM. This is a // prefer to use the GPS position from DCM. This is a
// safety net while some issues with the EKF get sorted // safety net while some issues with the EKF get sorted
// out // out
return EKFType::NONE; return EKFType::DCM;
} }
if (hal.util->get_soft_armed() && filt_state.flags.const_pos_mode) { if (hal.util->get_soft_armed() && filt_state.flags.const_pos_mode) {
return EKFType::NONE; return EKFType::DCM;
} }
if (!filt_state.flags.attitude || if (!filt_state.flags.attitude ||
!filt_state.flags.vert_vel || !filt_state.flags.vert_vel ||
!filt_state.flags.vert_pos) { !filt_state.flags.vert_pos) {
return EKFType::NONE; return EKFType::DCM;
} }
if (!filt_state.flags.horiz_vel || if (!filt_state.flags.horiz_vel ||
(!filt_state.flags.horiz_pos_abs && !filt_state.flags.horiz_pos_rel)) { (!filt_state.flags.horiz_pos_abs && !filt_state.flags.horiz_pos_rel)) {
@ -1858,7 +1858,7 @@ AP_AHRS::EKFType AP_AHRS::_active_EKF_type(void) const
return ret; return ret;
} }
} }
return EKFType::NONE; return EKFType::DCM;
} }
} }
return ret; return ret;
@ -1869,7 +1869,7 @@ bool AP_AHRS::_get_secondary_EKF_type(EKFType &secondary_ekf_type) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
// EKF2, EKF3 or External is secondary // EKF2, EKF3 or External is secondary
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
if ((EKFType)_ekf_type.get() == EKFType::THREE) { if ((EKFType)_ekf_type.get() == EKFType::THREE) {
@ -1904,7 +1904,7 @@ bool AP_AHRS::_get_secondary_EKF_type(EKFType &secondary_ekf_type) const
case EKFType::EXTERNAL: case EKFType::EXTERNAL:
#endif #endif
// DCM is secondary // DCM is secondary
secondary_ekf_type = EKFType::NONE; secondary_ekf_type = EKFType::DCM;
return true; return true;
} }
@ -1921,7 +1921,7 @@ bool AP_AHRS::healthy(void) const
// sensor data. If EKF reversion is inhibited, we only switch across if the EKF encounters // sensor data. If EKF reversion is inhibited, we only switch across if the EKF encounters
// an internal processing error, but not for bad sensor data. // an internal processing error, but not for bad sensor data.
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.healthy(); return dcm.healthy();
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -2008,7 +2008,7 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
case EKFType::SIM: case EKFType::SIM:
return ret; return ret;
#endif #endif
case EKFType::NONE: case EKFType::DCM:
return dcm.pre_arm_check(requires_position, failure_msg, failure_msg_len) && ret; return dcm.pre_arm_check(requires_position, failure_msg, failure_msg_len) && ret;
#if HAL_EXTERNAL_AHRS_ENABLED #if HAL_EXTERNAL_AHRS_ENABLED
@ -2044,7 +2044,7 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f
bool AP_AHRS::initialised(void) const bool AP_AHRS::initialised(void) const
{ {
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::DCM:
return true; return true;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -2075,7 +2075,7 @@ bool AP_AHRS::initialised(void) const
bool AP_AHRS::get_filter_status(nav_filter_status &status) const bool AP_AHRS::get_filter_status(nav_filter_status &status) const
{ {
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.get_filter_status(status); return dcm.get_filter_status(status);
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -2168,7 +2168,7 @@ void AP_AHRS::writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeSt
void AP_AHRS::getControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const void AP_AHRS::getControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
dcm.get_control_limits(ekfGndSpdLimit, ekfNavVelGainScaler); dcm.get_control_limits(ekfGndSpdLimit, ekfNavVelGainScaler);
break; break;
@ -2204,7 +2204,7 @@ void AP_AHRS::getControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler
*/ */
float AP_AHRS::getControlScaleZ(void) const float AP_AHRS::getControlScaleZ(void) const
{ {
if (active_EKF_type() == EKFType::NONE) { if (active_EKF_type() == EKFType::DCM) {
// when flying on DCM lower gains by 4x to cope with the high // when flying on DCM lower gains by 4x to cope with the high
// lag // lag
return 0.25; return 0.25;
@ -2217,7 +2217,7 @@ float AP_AHRS::getControlScaleZ(void) const
bool AP_AHRS::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const bool AP_AHRS::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
{ {
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::DCM:
return false; return false;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -2249,7 +2249,7 @@ void AP_AHRS::_getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const
int8_t imu_idx = -1; int8_t imu_idx = -1;
Vector3f accel_bias; Vector3f accel_bias;
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
break; break;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO:
@ -2390,7 +2390,7 @@ uint32_t AP_AHRS::getLastYawResetAngle(float &yawAng)
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return dcm.getLastYawResetAngle(yawAng); return dcm.getLastYawResetAngle(yawAng);
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -2421,7 +2421,7 @@ uint32_t AP_AHRS::getLastPosNorthEastReset(Vector2f &pos)
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return 0; return 0;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -2452,7 +2452,7 @@ uint32_t AP_AHRS::getLastVelNorthEastReset(Vector2f &vel) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return 0; return 0;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -2483,7 +2483,7 @@ uint32_t AP_AHRS::getLastVelNorthEastReset(Vector2f &vel) const
uint32_t AP_AHRS::getLastPosDownReset(float &posDelta) uint32_t AP_AHRS::getLastPosDownReset(float &posDelta)
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
return 0; return 0;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -2520,7 +2520,7 @@ bool AP_AHRS::resetHeightDatum(void)
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::DCM:
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
EKF3.resetHeightDatum(); EKF3.resetHeightDatum();
#endif #endif
@ -2561,7 +2561,7 @@ bool AP_AHRS::resetHeightDatum(void)
void AP_AHRS::send_ekf_status_report(GCS_MAVLINK &link) const void AP_AHRS::send_ekf_status_report(GCS_MAVLINK &link) const
{ {
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::DCM:
// send zero status report // send zero status report
dcm.send_ekf_status_report(link); dcm.send_ekf_status_report(link);
break; break;
@ -2596,7 +2596,7 @@ void AP_AHRS::send_ekf_status_report(GCS_MAVLINK &link) const
bool AP_AHRS::_get_origin(EKFType type, Location &ret) const bool AP_AHRS::_get_origin(EKFType type, Location &ret) const
{ {
switch (type) { switch (type) {
case EKFType::NONE: case EKFType::DCM:
return dcm.get_origin(ret); return dcm.get_origin(ret);
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -2702,7 +2702,7 @@ void AP_AHRS::load_watchdog_home()
bool AP_AHRS::get_hgt_ctrl_limit(float& limit) const bool AP_AHRS::get_hgt_ctrl_limit(float& limit) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
// We are not using an EKF so no limiting applies // We are not using an EKF so no limiting applies
return false; return false;
@ -2764,7 +2764,7 @@ void AP_AHRS::set_terrain_hgt_stable(bool stable)
bool AP_AHRS::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const bool AP_AHRS::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const
{ {
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::DCM:
// We are not using an EKF so no data // We are not using an EKF so no data
return false; return false;
@ -2802,7 +2802,7 @@ bool AP_AHRS::is_vibration_affected() const
case EKFType::THREE: case EKFType::THREE:
return EKF3.isVibrationAffected(); return EKF3.isVibrationAffected();
#endif #endif
case EKFType::NONE: case EKFType::DCM:
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO:
#endif #endif
@ -2824,7 +2824,7 @@ bool AP_AHRS::is_vibration_affected() const
bool AP_AHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const bool AP_AHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const
{ {
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::DCM:
// We are not using an EKF so no data // We are not using an EKF so no data
return false; return false;
@ -2863,7 +2863,7 @@ bool AP_AHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3
bool AP_AHRS::get_vel_innovations_and_variances_for_source(uint8_t source, Vector3f &innovations, Vector3f &variances) const bool AP_AHRS::get_vel_innovations_and_variances_for_source(uint8_t source, Vector3f &innovations, Vector3f &variances) const
{ {
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::DCM:
// We are not using an EKF so no data // We are not using an EKF so no data
return false; return false;
@ -2926,7 +2926,7 @@ uint8_t AP_AHRS::_get_primary_IMU_index() const
{ {
int8_t imu = -1; int8_t imu = -1;
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
break; break;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO:
@ -2959,7 +2959,7 @@ uint8_t AP_AHRS::_get_primary_IMU_index() const
int8_t AP_AHRS::_get_primary_core_index() const int8_t AP_AHRS::_get_primary_core_index() const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
#if AP_AHRS_SIM_ENABLED #if AP_AHRS_SIM_ENABLED
case EKFType::SIM: case EKFType::SIM:
#endif #endif
@ -3001,7 +3001,7 @@ uint8_t AP_AHRS::_get_primary_gyro_index(void) const
void AP_AHRS::check_lane_switch(void) void AP_AHRS::check_lane_switch(void)
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
break; break;
#if AP_AHRS_SIM_ENABLED #if AP_AHRS_SIM_ENABLED
@ -3032,7 +3032,7 @@ void AP_AHRS::check_lane_switch(void)
void AP_AHRS::request_yaw_reset(void) void AP_AHRS::request_yaw_reset(void)
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
case EKFType::NONE: case EKFType::DCM:
break; break;
#if AP_AHRS_SIM_ENABLED #if AP_AHRS_SIM_ENABLED
@ -3102,7 +3102,7 @@ bool AP_AHRS::using_noncompass_for_yaw(void) const
case EKFType::TWO: case EKFType::TWO:
return EKF2.isExtNavUsedForYaw(); return EKF2.isExtNavUsedForYaw();
#endif #endif
case EKFType::NONE: case EKFType::DCM:
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: case EKFType::THREE:
return EKF3.using_noncompass_for_yaw(); return EKF3.using_noncompass_for_yaw();
@ -3127,7 +3127,7 @@ bool AP_AHRS::using_extnav_for_yaw(void) const
case EKFType::TWO: case EKFType::TWO:
return EKF2.isExtNavUsedForYaw(); return EKF2.isExtNavUsedForYaw();
#endif #endif
case EKFType::NONE: case EKFType::DCM:
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: case EKFType::THREE:
return EKF3.using_extnav_for_yaw(); return EKF3.using_extnav_for_yaw();
@ -3163,7 +3163,7 @@ const EKFGSF_yaw *AP_AHRS::get_yaw_estimator(void) const
case EKFType::TWO: case EKFType::TWO:
return EKF2.get_yawEstimator(); return EKF2.get_yawEstimator();
#endif #endif
case EKFType::NONE: case EKFType::DCM:
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: case EKFType::THREE:
return EKF3.get_yawEstimator(); return EKF3.get_yawEstimator();

2
libraries/AP_AHRS/AP_AHRS.h
View File

@ -660,7 +660,7 @@ private:
AP_Int8 _gps_minsats; AP_Int8 _gps_minsats;
enum class EKFType { enum class EKFType {
NONE = 0, DCM = 0,
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
THREE = 3, THREE = 3,
#endif #endif