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AP_DAL: use common events and structures for EKF2 and EKF3

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this facilitates --force-ekf2 and --force-ekf3
This commit is contained in:
Andrew Tridgell 2020-11-16 14:33:33 +11:00 committed by Peter Barker
parent 08291a15fb
commit 636fe783f4
3 changed files with 9 additions and 43 deletions
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4
libraries/AP_DAL/AP_DAL.cpp
View File

@ -97,7 +97,7 @@ void AP_DAL::end_frame(void)
}
}
void AP_DAL::log_event2(AP_DAL::Event2 event)
void AP_DAL::log_event2(AP_DAL::Event event)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
end_frame();
@ -130,7 +130,7 @@ void AP_DAL::log_writeDefaultAirSpeed2(const float aspeed)
#endif
}
void AP_DAL::log_event3(AP_DAL::Event3 event)
void AP_DAL::log_event3(AP_DAL::Event event)
{
#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
end_frame();

22
libraries/AP_DAL/AP_DAL.h
View File

@ -32,23 +32,7 @@ public:
LogWriteEKF3 = 1<<5,
};
enum class Event2 : uint8_t {
resetGyroBias = 0,
resetHeightDatum = 1,
setInhibitGPS = 2,
setTakeoffExpected = 3,
unsetTakeoffExpected = 4,
setTouchdownExpected = 5,
unsetTouchdownExpected = 6,
setInhibitGpsVertVelUse = 7,
unsetInhibitGpsVertVelUse = 8,
setTerrainHgtStable = 9,
unsetTerrainHgtStable = 10,
requestYawReset = 11,
checkLaneSwitch = 12,
};
enum class Event3 : uint8_t {
enum class Event : uint8_t {
resetGyroBias = 0,
resetHeightDatum = 1,
setInhibitGPS = 2,
@ -88,11 +72,11 @@ public:
uint32_t micros() const { return _micros; }
uint32_t millis() const { return _millis; }
void log_event2(Event2 event);
void log_event2(Event event);
void log_SetOriginLLH2(const Location &loc);
void log_writeDefaultAirSpeed2(float aspeed);
void log_event3(Event3 event);
void log_event3(Event event);
void log_SetOriginLLH3(const Location &loc);
void log_writeDefaultAirSpeed3(float aspeed);
void log_writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t timeStamp_ms, uint8_t type);

26
libraries/AP_DAL/LogStructure.h
View File

@ -118,28 +118,10 @@ struct log_RWA2 {
uint8_t _end;
};
// @LoggerMessage: REV3
// @Description: Replay Event
struct log_REV3 {
uint8_t event;
uint8_t _end;
};
// @LoggerMessage: RSO3
// @Description: Replay Set Origin event
struct log_RSO3 {
int32_t lat;
int32_t lng;
int32_t alt;
uint8_t _end;
};
// @LoggerMessage: RWA3
// @Description: Replay set-default-airspeed event
struct log_RWA3 {
float airspeed;
uint8_t _end;
};
// same structures for EKF3
#define log_REV3 log_REV2
#define log_RSO3 log_RSO2
#define log_RWA3 log_RWA2
// @LoggerMessage: REY3
// @Description: Replay Euler Yaw event