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AP_NavEKF3: use rangefinder backend accessors

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This commit is contained in:
Peter Barker 2017-08-08 16:14:53 +10:00 committed by Francisco Ferreira
parent 1e83ef3c44
commit 63440800fc
2 changed files with 15 additions and 6 deletions
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9
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -6,6 +6,7 @@
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_RangeFinder/RangeFinder_Backend.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -35,13 +36,17 @@ void NavEKF3_core::readRangeFinder(void)
// use data from two range finders if available // use data from two range finders if available
for (uint8_t sensorIndex = 0; sensorIndex <= 1; sensorIndex++) { for (uint8_t sensorIndex = 0; sensorIndex <= 1; sensorIndex++) {
if ((frontend->_rng.get_orientation(sensorIndex) == ROTATION_PITCH_270) && (frontend->_rng.status(sensorIndex) == RangeFinder::RangeFinder_Good)) { AP_RangeFinder_Backend *sensor = frontend->_rng.get_backend(sensorIndex);
if (sensor == nullptr) {
continue;
}
if ((sensor->orientation() == ROTATION_PITCH_270) && (sensor->status() == RangeFinder::RangeFinder_Good)) {
rngMeasIndex[sensorIndex] ++; rngMeasIndex[sensorIndex] ++;
if (rngMeasIndex[sensorIndex] > 2) { if (rngMeasIndex[sensorIndex] > 2) {
rngMeasIndex[sensorIndex] = 0; rngMeasIndex[sensorIndex] = 0;
} }
storedRngMeasTime_ms[sensorIndex][rngMeasIndex[sensorIndex]] = imuSampleTime_ms - 25; storedRngMeasTime_ms[sensorIndex][rngMeasIndex[sensorIndex]] = imuSampleTime_ms - 25;
storedRngMeas[sensorIndex][rngMeasIndex[sensorIndex]] = frontend->_rng.distance_cm(sensorIndex) * 0.01f; storedRngMeas[sensorIndex][rngMeasIndex[sensorIndex]] = sensor->distance_cm() * 0.01f;
} }
// check for three fresh samples // check for three fresh samples

12
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -7,6 +7,7 @@
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_RangeFinder/RangeFinder_Backend.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -753,10 +754,13 @@ void NavEKF3_core::selectHeightForFusion()
// the corrected reading is the reading that would have been taken if the sensor was // the corrected reading is the reading that would have been taken if the sensor was
// co-located with the IMU // co-located with the IMU
if (rangeDataToFuse) { if (rangeDataToFuse) {
Vector3f posOffsetBody = frontend->_rng.get_pos_offset(rangeDataDelayed.sensor_idx) - accelPosOffset; AP_RangeFinder_Backend *sensor = frontend->_rng.get_backend(rangeDataDelayed.sensor_idx);
if (!posOffsetBody.is_zero()) { if (sensor != nullptr) {
Vector3f posOffsetEarth = prevTnb.mul_transpose(posOffsetBody); Vector3f posOffsetBody = sensor->get_pos_offset() - accelPosOffset;
rangeDataDelayed.rng += posOffsetEarth.z / prevTnb.c.z; if (!posOffsetBody.is_zero()) {
Vector3f posOffsetEarth = prevTnb.mul_transpose(posOffsetBody);
rangeDataDelayed.rng += posOffsetEarth.z / prevTnb.c.z;
}
} }
} }