Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 09:28:31 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF2: use baro singleton

Browse Source
This commit is contained in:
Peter Barker 2018-03-06 07:35:34 +11:00 committed by Lucas De Marchi
parent 8d8f2208c0
commit 5ab89324b2
4 changed files with 8 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_NavEKF2/AP_NavEKF2.cpp
View File

@ -555,9 +555,8 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
AP_GROUPEND AP_GROUPEND
}; };
NavEKF2::NavEKF2(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng) : NavEKF2::NavEKF2(const AP_AHRS *ahrs, const RangeFinder &rng) :
_ahrs(ahrs), _ahrs(ahrs),
_baro(baro),
_rng(rng) _rng(rng)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
@ -580,7 +579,7 @@ void NavEKF2::check_log_write(void)
logging.log_gps = false; logging.log_gps = false;
} }
if (logging.log_baro) { if (logging.log_baro) {
DataFlash_Class::instance()->Log_Write_Baro(_baro, imuSampleTime_us); DataFlash_Class::instance()->Log_Write_Baro(imuSampleTime_us);
logging.log_baro = false; logging.log_baro = false;
} }
if (logging.log_imu) { if (logging.log_imu) {

3
libraries/AP_NavEKF2/AP_NavEKF2.h
View File

@ -38,7 +38,7 @@ class NavEKF2 {
friend class NavEKF2_core; friend class NavEKF2_core;
public: public:
NavEKF2(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng); NavEKF2(const AP_AHRS *ahrs, const RangeFinder &rng);
/* Do not allow copies */ /* Do not allow copies */
NavEKF2(const NavEKF2 &other) = delete; NavEKF2(const NavEKF2 &other) = delete;
@ -328,7 +328,6 @@ private:
uint8_t primary; // current primary core uint8_t primary; // current primary core
NavEKF2_core *core = nullptr; NavEKF2_core *core = nullptr;
const AP_AHRS *_ahrs; const AP_AHRS *_ahrs;
AP_Baro &_baro;
const RangeFinder &_rng; const RangeFinder &_rng;
uint32_t _frameTimeUsec; // time per IMU frame uint32_t _frameTimeUsec; // time per IMU frame

7
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
View File

@ -556,10 +556,11 @@ void NavEKF2_core::readBaroData()
{ {
// check to see if baro measurement has changed so we know if a new measurement has arrived // check to see if baro measurement has changed so we know if a new measurement has arrived
// do not accept data at a faster rate than 14Hz to avoid overflowing the FIFO buffer // do not accept data at a faster rate than 14Hz to avoid overflowing the FIFO buffer
if (frontend->_baro.get_last_update() - lastBaroReceived_ms > 70) { const AP_Baro &baro = AP::baro();
if (baro.get_last_update() - lastBaroReceived_ms > 70) {
frontend->logging.log_baro = true; frontend->logging.log_baro = true;
baroDataNew.hgt = frontend->_baro.get_altitude(); baroDataNew.hgt = baro.get_altitude();
// If we are in takeoff mode, the height measurement is limited to be no less than the measurement at start of takeoff // If we are in takeoff mode, the height measurement is limited to be no less than the measurement at start of takeoff
// This prevents negative baro disturbances due to copter downwash corrupting the EKF altitude during initial ascent // This prevents negative baro disturbances due to copter downwash corrupting the EKF altitude during initial ascent
@ -568,7 +569,7 @@ void NavEKF2_core::readBaroData()
} }
// time stamp used to check for new measurement // time stamp used to check for new measurement
lastBaroReceived_ms = frontend->_baro.get_last_update(); lastBaroReceived_ms = baro.get_last_update();
// estimate of time height measurement was taken, allowing for delays // estimate of time height measurement was taken, allowing for delays
baroDataNew.time_ms = lastBaroReceived_ms - frontend->_hgtDelay_ms; baroDataNew.time_ms = lastBaroReceived_ms - frontend->_hgtDelay_ms;

2
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
View File

@ -204,7 +204,7 @@ bool NavEKF2_core::resetHeightDatum(void)
// record the old height estimate // record the old height estimate
float oldHgt = -stateStruct.position.z; float oldHgt = -stateStruct.position.z;
// reset the barometer so that it reads zero at the current height // reset the barometer so that it reads zero at the current height
frontend->_baro.update_calibration(); AP::baro().update_calibration();
// reset the height state // reset the height state
stateStruct.position.z = 0.0f; stateStruct.position.z = 0.0f;
// adjust the height of the EKF origin so that the origin plus baro height before and after the reset is the same // adjust the height of the EKF origin so that the origin plus baro height before and after the reset is the same