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AP_AHRS: allow NavEKFs to be compiled out

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Peter Barker 2019-12-12 18:31:43 +11:00 committed by Andrew Tridgell
parent 73c32f403b
commit 583b25e6aa
2 changed files with 325 additions and 41 deletions
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296
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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28
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -23,6 +23,14 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#ifndef HAL_NAVEKF2_AVAILABLE
#define HAL_NAVEKF2_AVAILABLE 1
#endif
#ifndef HAL_NAVEKF3_AVAILABLE
#define HAL_NAVEKF3_AVAILABLE 1
#endif
#define AP_AHRS_NAVEKF_AVAILABLE 1 #define AP_AHRS_NAVEKF_AVAILABLE 1
#include "AP_AHRS.h" #include "AP_AHRS.h"
@ -89,19 +97,23 @@ public:
bool use_compass() override; bool use_compass() override;
// we will need to remove these to fully hide which EKF we are using // we will need to remove these to fully hide which EKF we are using
#if HAL_NAVEKF2_AVAILABLE
NavEKF2 &get_NavEKF2(void) { NavEKF2 &get_NavEKF2(void) {
return EKF2; return EKF2;
} }
const NavEKF2 &get_NavEKF2_const(void) const { const NavEKF2 &get_NavEKF2_const(void) const {
return EKF2; return EKF2;
} }
#endif
#if HAL_NAVEKF3_AVAILABLE
NavEKF3 &get_NavEKF3(void) { NavEKF3 &get_NavEKF3(void) {
return EKF3; return EKF3;
} }
const NavEKF3 &get_NavEKF3_const(void) const { const NavEKF3 &get_NavEKF3_const(void) const {
return EKF3; return EKF3;
} }
#endif
// return secondary attitude solution if available, as eulers in radians // return secondary attitude solution if available, as eulers in radians
bool get_secondary_attitude(Vector3f &eulers) const override; bool get_secondary_attitude(Vector3f &eulers) const override;
@ -272,14 +284,22 @@ public:
bool is_ext_nav_used_for_yaw(void) const; bool is_ext_nav_used_for_yaw(void) const;
// these are only out here so vehicles can reference them for parameters // these are only out here so vehicles can reference them for parameters
#if HAL_NAVEKF2_AVAILABLE
NavEKF2 EKF2; NavEKF2 EKF2;
#endif
#if HAL_NAVEKF3_AVAILABLE
NavEKF3 EKF3; NavEKF3 EKF3;
#endif
private: private:
enum class EKFType { enum class EKFType {
NONE = 0, NONE = 0,
#if HAL_NAVEKF3_AVAILABLE
THREE = 3, THREE = 3,
#endif
#if HAL_NAVEKF2_AVAILABLE
TWO = 2 TWO = 2
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
,SITL = 10 ,SITL = 10
#endif #endif
@ -290,8 +310,14 @@ private:
return _ekf_flags & FLAG_ALWAYS_USE_EKF; return _ekf_flags & FLAG_ALWAYS_USE_EKF;
} }
#if HAL_NAVEKF2_AVAILABLE
void update_EKF2(void);
bool _ekf2_started; bool _ekf2_started;
#endif
#if HAL_NAVEKF3_AVAILABLE
bool _ekf3_started; bool _ekf3_started;
void update_EKF3(void);
#endif
bool _force_ekf; bool _force_ekf;
// rotation from vehicle body to NED frame // rotation from vehicle body to NED frame
@ -308,8 +334,6 @@ private:
EKFType ekf_type(void) const; EKFType ekf_type(void) const;
void update_DCM(bool skip_ins_update); void update_DCM(bool skip_ins_update);
void update_EKF2(void);
void update_EKF3(void);
// get the index of the current primary IMU // get the index of the current primary IMU
uint8_t get_primary_IMU_index(void) const; uint8_t get_primary_IMU_index(void) const;