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InertialNav: get_filter_status replaces position_ok 

altitude_ok also replaced.
This commit is contained in:
Randy Mackay 2015-01-02 17:05:49 +09:00
parent 7f5243026d
commit 5d80481723
2 changed files with 26 additions and 18 deletions
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26
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -120,16 +120,30 @@ void AP_InertialNav::update(float dt)
} }
} }
/**
* get_filter_status : returns filter status as a series of flags
*/
nav_filter_status AP_InertialNav::get_filter_status() const
{
nav_filter_status ret;
ret.value = 0; // initialise to zero
ret.flags.attitude = true;
ret.flags.horiz_pos_abs = _xy_enabled;
ret.flags.horiz_pos_rel = false;
ret.flags.horiz_vel = _xy_enabled;
ret.flags.terrain_alt = false;
ret.flags.vert_pos = true;
ret.flags.vert_vel = true;
ret.flags.const_pos_mode = false;
ret.flags.pred_horiz_pos_rel = false;
ret.flags.pred_horiz_pos_abs = _xy_enabled;
return ret;
}
// //
// XY Axis specific methods // XY Axis specific methods
// //
// position_ok - return true if position has been initialised and have received gps data within 3 seconds
bool AP_InertialNav::position_ok() const
{
return _xy_enabled;
}
// check_home - checks if the home position has moved and offsets everything so it still lines up // check_home - checks if the home position has moved and offsets everything so it still lines up
void AP_InertialNav::check_home() { void AP_InertialNav::check_home() {
if (!_xy_enabled) { if (!_xy_enabled) {

18
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -9,6 +9,7 @@
#include <AP_Buffer.h> // FIFO buffer library #include <AP_Buffer.h> // FIFO buffer library
#include <AP_GPS_Glitch.h> // GPS Glitch detection library #include <AP_GPS_Glitch.h> // GPS Glitch detection library
#include <AP_Baro_Glitch.h> // Baro Glitch detection library #include <AP_Baro_Glitch.h> // Baro Glitch detection library
#include <AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
#define AP_INTERTIALNAV_TC_XY 2.5f // default time constant for complementary filter's X & Y axis #define AP_INTERTIALNAV_TC_XY 2.5f // default time constant for complementary filter's X & Y axis
#define AP_INTERTIALNAV_TC_Z 5.0f // default time constant for complementary filter's Z axis #define AP_INTERTIALNAV_TC_Z 5.0f // default time constant for complementary filter's Z axis
@ -73,16 +74,15 @@ public:
*/ */
virtual void update(float dt); virtual void update(float dt);
/**
* get_filter_status : returns filter status as a series of flags
*/
virtual nav_filter_status get_filter_status() const;
// //
// XY Axis specific methods // XY Axis specific methods
// //
/**
* position_ok - true if inertial based altitude and position can be trusted
* @return
*/
virtual bool position_ok() const;
/** /**
* get_position - returns the current position relative to the home location in cm. * get_position - returns the current position relative to the home location in cm.
* *
@ -150,12 +150,6 @@ public:
// Z Axis methods // Z Axis methods
// //
/**
* altitude_ok - returns true if inertial based altitude and position can be trusted
* @return
*/
virtual bool altitude_ok() const { return true; }
/** /**
* get_altitude - get latest altitude estimate in cm above the * get_altitude - get latest altitude estimate in cm above the
* reference position * reference position