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AP_AHRS: move wind-estimation-enabled state to frontend

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This commit is contained in:
Peter Barker 2021-08-17 12:34:15 +10:00 committed by Andrew Tridgell
parent d2822635ca
commit 5d49d29c27
4 changed files with 23 additions and 12 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -808,7 +808,7 @@ bool AP_AHRS::airspeed_estimate(float &airspeed_ret) const
return true;
}
if (!_flags.wind_estimation) {
if (!get_wind_estimation_enabled()) {
return false;
}

20
libraries/AP_AHRS/AP_AHRS.h
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@ -103,9 +103,24 @@ public:
float get_error_rp() const override;
float get_error_yaw() const override;
/*
* wind estimation support
*/
// enable wind estimation
void set_wind_estimation_enabled(bool b) { wind_estimation_enabled = b; }
// wind_estimation_enabled returns true if wind estimation is enabled
bool get_wind_estimation_enabled() const { return wind_estimation_enabled; }
// return a wind estimation vector, in m/s
Vector3f wind_estimate() const override;
/*
* airspeed support
*/
// return an airspeed estimate if available. return true
// if we have an estimate
bool airspeed_estimate(float &airspeed_ret) const override;
@ -567,6 +582,11 @@ private:
bool touchdown_expected; // true if the vehicle is in a state that touchdown might be expected. Ground effect may be in play.
uint32_t touchdown_expected_start_ms;
/*
* wind estimation support
*/
bool wind_estimation_enabled;
/*
* fly_forward is set by the vehicles to indicate the vehicle
* should generally be moving in the direction of its heading.

9
libraries/AP_AHRS/AP_AHRS_Backend.h
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@ -46,10 +46,6 @@ public:
// init sets up INS board orientation
virtual void init();
void set_wind_estimation(bool b) {
_flags.wind_estimation = b;
}
// return the index of the primary core or -1 if no primary core selected
virtual int8_t get_primary_core_index() const { return -1; }
@ -472,11 +468,6 @@ protected:
Matrix3f _custom_rotation;
// flags structure
struct ahrs_flags {
uint8_t wind_estimation : 1; // 1 if we should do wind estimation
} _flags;
// calculate sin/cos of roll/pitch/yaw from rotation
void calc_trig(const Matrix3f &rot,
float &cr, float &cp, float &cy,

4
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -957,7 +957,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
// update our wind speed estimate
void AP_AHRS_DCM::estimate_wind(void)
{
if (!_flags.wind_estimation) {
if (!AP::ahrs().get_wind_estimation_enabled()) {
return;
}
const Vector3f &velocity = _last_velocity;
@ -1074,7 +1074,7 @@ bool AP_AHRS_DCM::airspeed_estimate(uint8_t airspeed_index, float &airspeed_ret)
{
if (airspeed_sensor_enabled(airspeed_index)) {
airspeed_ret = AP::airspeed()->get_airspeed(airspeed_index);
} else if (_flags.wind_estimation && have_gps()) {
} else if (AP::ahrs().get_wind_estimation_enabled() && have_gps()) {
// estimate it via GPS speed and wind
airspeed_ret = _last_airspeed;
} else {