diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp index c2151a21f0..20b16255fb 100644 --- a/libraries/AP_AHRS/AP_AHRS.cpp +++ b/libraries/AP_AHRS/AP_AHRS.cpp @@ -339,7 +339,7 @@ void AP_AHRS::update(bool skip_ins_update) shortname = "DCM"; break; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: shortname = "SITL"; break; #endif @@ -555,7 +555,7 @@ void AP_AHRS::update_SITL(void) const struct SITL::sitl_fdm &fdm = _sitl->state; const AP_InertialSensor &_ins = AP::ins(); - if (active_EKF_type() == EKFType::SITL) { + if (active_EKF_type() == EKFType::SIM) { fdm.quaternion.rotation_matrix(_dcm_matrix); _dcm_matrix = _dcm_matrix * get_rotation_vehicle_body_to_autopilot_body(); @@ -693,7 +693,7 @@ bool AP_AHRS::get_position(struct Location &loc) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: { + case EKFType::SIM: { if (_sitl) { const struct SITL::sitl_fdm &fdm = _sitl->state; loc = {}; @@ -741,7 +741,7 @@ Vector3f AP_AHRS::wind_estimate(void) const break; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: wind.zero(); break; #endif @@ -791,7 +791,7 @@ bool AP_AHRS::airspeed_estimate(float &airspeed_ret) const return AP_AHRS_DCM::airspeed_estimate(get_active_airspeed_index(), airspeed_ret); #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: #if HAL_NAVEKF3_AVAILABLE if (EKF3.getWind(-1,wind_vel)) { ret = true; @@ -862,7 +862,7 @@ bool AP_AHRS::airspeed_vector_true(Vector3f &vec) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: break; #endif @@ -891,7 +891,7 @@ bool AP_AHRS::use_compass(void) #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return true; #endif @@ -932,7 +932,7 @@ bool AP_AHRS::get_quaternion(Quaternion &quat) const break; #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: { + case EKFType::SIM: { if (!_sitl) { return false; } @@ -983,7 +983,7 @@ bool AP_AHRS::get_secondary_attitude(Vector3f &eulers) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: // SITL is secondary (should never happen) return false; #endif @@ -1044,7 +1044,7 @@ bool AP_AHRS::get_secondary_quaternion(Quaternion &quat) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: // SITL is secondary (should never happen) return false; #endif @@ -1091,7 +1091,7 @@ bool AP_AHRS::get_secondary_position(struct Location &loc) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: // SITL is secondary (should never happen) return false; #endif @@ -1129,7 +1129,7 @@ Vector2f AP_AHRS::groundspeed_vector(void) #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: { + case EKFType::SIM: { if (_sitl) { const struct SITL::sitl_fdm &fdm = _sitl->state; return Vector2f(fdm.speedN, fdm.speedE); @@ -1175,7 +1175,7 @@ bool AP_AHRS::set_origin(const Location &loc) #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: // never allow origin set in SITL. The origin is set by the // simulation backend return false; @@ -1217,7 +1217,7 @@ bool AP_AHRS::get_velocity_NED(Vector3f &vec) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: { + case EKFType::SIM: { if (!_sitl) { return false; } @@ -1254,7 +1254,7 @@ bool AP_AHRS::get_mag_field_NED(Vector3f &vec) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return false; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -1285,7 +1285,7 @@ bool AP_AHRS::get_mag_field_correction(Vector3f &vec) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return false; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -1318,7 +1318,7 @@ bool AP_AHRS::get_vert_pos_rate(float &velocity) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: if (_sitl) { const struct SITL::sitl_fdm &fdm = _sitl->state; velocity = fdm.speedD; @@ -1354,7 +1354,7 @@ bool AP_AHRS::get_hagl(float &height) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: { + case EKFType::SIM: { if (!_sitl) { return false; } @@ -1412,7 +1412,7 @@ bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: { + case EKFType::SIM: { if (!_sitl) { return false; } @@ -1489,7 +1489,7 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: { + case EKFType::SIM: { Location loc, orgn; if (!get_position(loc) || !get_origin(orgn)) { @@ -1559,7 +1559,7 @@ bool AP_AHRS::get_relative_position_D_origin(float &posD) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: { + case EKFType::SIM: { if (!_sitl) { return false; } @@ -1612,7 +1612,7 @@ AP_AHRS::EKFType AP_AHRS::ekf_type(void) const EKFType type = (EKFType)_ekf_type.get(); switch (type) { #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return type; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -1696,8 +1696,8 @@ AP_AHRS::EKFType AP_AHRS::active_EKF_type(void) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: - ret = EKFType::SITL; + case EKFType::SIM: + ret = EKFType::SIM; break; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -1734,7 +1734,7 @@ AP_AHRS::EKFType AP_AHRS::active_EKF_type(void) const } #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - if (ret == EKFType::SITL) { + if (ret == EKFType::SIM) { get_filter_status(filt_state); } #endif @@ -1819,7 +1819,7 @@ bool AP_AHRS::get_secondary_EKF_type(EKFType &secondary_ekf_type) const case EKFType::THREE: #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: #endif #if HAL_EXTERNAL_AHRS_ENABLED case EKFType::EXTERNAL: @@ -1880,7 +1880,7 @@ bool AP_AHRS::healthy(void) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return true; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -1906,7 +1906,7 @@ bool AP_AHRS::pre_arm_check(bool requires_position, char *failure_msg, uint8_t f switch (ekf_type()) { #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: #endif case EKFType::NONE: return ret; @@ -1960,7 +1960,7 @@ bool AP_AHRS::initialised(void) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return true; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -1991,7 +1991,7 @@ bool AP_AHRS::get_filter_status(nav_filter_status &status) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: memset(&status, 0, sizeof(status)); status.flags.attitude = 1; status.flags.horiz_vel = 1; @@ -2086,7 +2086,7 @@ void AP_AHRS::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainSca #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: // same as EKF2 for no optical flow ekfGndSpdLimit = 400.0f; ekfNavVelGainScaler = 1.0f; @@ -2119,7 +2119,7 @@ bool AP_AHRS::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: magOffsets.zero(); return true; #endif @@ -2153,7 +2153,7 @@ void AP_AHRS::getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const break; #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: break; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -2284,7 +2284,7 @@ uint32_t AP_AHRS::getLastYawResetAngle(float &yawAng) #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return 0; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -2315,7 +2315,7 @@ uint32_t AP_AHRS::getLastPosNorthEastReset(Vector2f &pos) #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return 0; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -2346,7 +2346,7 @@ uint32_t AP_AHRS::getLastVelNorthEastReset(Vector2f &vel) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return 0; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -2377,7 +2377,7 @@ uint32_t AP_AHRS::getLastPosDownReset(float &posDelta) #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return 0; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -2426,7 +2426,7 @@ bool AP_AHRS::resetHeightDatum(void) #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return false; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -2447,7 +2447,7 @@ void AP_AHRS::send_ekf_status_report(mavlink_channel_t chan) const break; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: { // send status report with everything looking good const uint16_t flags = @@ -2512,7 +2512,7 @@ bool AP_AHRS::get_origin(Location &ret) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: { + case EKFType::SIM: { if (!_sitl) { return false; } @@ -2551,7 +2551,7 @@ bool AP_AHRS::get_hgt_ctrl_limit(float& limit) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return false; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -2613,7 +2613,7 @@ bool AP_AHRS::get_location(struct Location &loc) const #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: return get_position(loc); #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -2647,7 +2647,7 @@ bool AP_AHRS::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f & #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: velInnov.zero(); posInnov.zero(); magInnov.zero(); @@ -2678,7 +2678,7 @@ bool AP_AHRS::is_vibration_affected() const case EKFType::TWO: #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: #endif #if HAL_EXTERNAL_AHRS_ENABLED case EKFType::EXTERNAL: @@ -2716,7 +2716,7 @@ bool AP_AHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3 #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: velVar = 0; posVar = 0; hgtVar = 0; @@ -2756,7 +2756,7 @@ bool AP_AHRS::get_vel_innovations_and_variances_for_source(uint8_t source, Vecto #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: // SITL does not support source level variances return false; #endif @@ -2816,7 +2816,7 @@ uint8_t AP_AHRS::get_primary_IMU_index() const break; #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: break; #endif #if HAL_EXTERNAL_AHRS_ENABLED @@ -2842,7 +2842,7 @@ int8_t AP_AHRS::get_primary_core_index() const switch (active_EKF_type()) { case EKFType::NONE: #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: #endif #if HAL_EXTERNAL_AHRS_ENABLED case EKFType::EXTERNAL: @@ -2892,7 +2892,7 @@ void AP_AHRS::check_lane_switch(void) break; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: break; #endif @@ -2923,7 +2923,7 @@ void AP_AHRS::request_yaw_reset(void) break; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: break; #endif @@ -2978,7 +2978,7 @@ bool AP_AHRS::is_ext_nav_used_for_yaw(void) const return EKF3.using_external_yaw(); #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - case EKFType::SITL: + case EKFType::SIM: #endif #if HAL_EXTERNAL_AHRS_ENABLED case EKFType::EXTERNAL: diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h index 69e40611a3..1cb35c82ce 100644 --- a/libraries/AP_AHRS/AP_AHRS.h +++ b/libraries/AP_AHRS/AP_AHRS.h @@ -353,7 +353,7 @@ private: ,TWO = 2 #endif #if CONFIG_HAL_BOARD == HAL_BOARD_SITL - ,SITL = 10 + ,SIM = 10 #endif #if HAL_EXTERNAL_AHRS_ENABLED ,EXTERNAL = 11