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AP_AHRS: get_variances does not return offset

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the offset is not a variance and is not actually used by any callers of this function
This commit is contained in:
Randy Mackay 2020-10-20 13:23:42 +09:00
parent 375fe22dff
commit 6a72805f07
3 changed files with 11 additions and 8 deletions
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2
libraries/AP_AHRS/AP_AHRS.h
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@ -528,7 +528,7 @@ public:
// indicates perfect consistency between the measurement and the EKF solution and a value of of 1 is the maximum // indicates perfect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
// inconsistency that will be accepted by the filter // inconsistency that will be accepted by the filter
// boolean false is returned if variances are not available // boolean false is returned if variances are not available
virtual bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const { virtual bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const {
return false; return false;
} }

15
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -2051,7 +2051,7 @@ bool AP_AHRS_NavEKF::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vec
// indicates prefect consistency between the measurement and the EKF solution and a value of of 1 is the maximum // indicates prefect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
// inconsistency that will be accpeted by the filter // inconsistency that will be accpeted by the filter
// boolean false is returned if variances are not available // boolean false is returned if variances are not available
bool AP_AHRS_NavEKF::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const bool AP_AHRS_NavEKF::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const
{ {
switch (ekf_type()) { switch (ekf_type()) {
case EKFType::NONE: case EKFType::NONE:
@ -2059,17 +2059,21 @@ bool AP_AHRS_NavEKF::get_variances(float &velVar, float &posVar, float &hgtVar,
return false; return false;
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO: case EKFType::TWO: {
// use EKF to get variance // use EKF to get variance
EKF2.getVariances(-1,velVar, posVar, hgtVar, magVar, tasVar, offset); Vector2f offset;
EKF2.getVariances(-1, velVar, posVar, hgtVar, magVar, tasVar, offset);
return true; return true;
}
#endif #endif
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: case EKFType::THREE: {
// use EKF to get variance // use EKF to get variance
EKF3.getVariances(-1,velVar, posVar, hgtVar, magVar, tasVar, offset); Vector2f offset;
EKF3.getVariances(-1, velVar, posVar, hgtVar, magVar, tasVar, offset);
return true; return true;
}
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -2079,7 +2083,6 @@ bool AP_AHRS_NavEKF::get_variances(float &velVar, float &posVar, float &hgtVar,
hgtVar = 0; hgtVar = 0;
magVar.zero(); magVar.zero();
tasVar = 0; tasVar = 0;
offset.zero();
return true; return true;
#endif #endif
} }

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -264,7 +264,7 @@ public:
// indicates perfect consistency between the measurement and the EKF solution and a value of of 1 is the maximum // indicates perfect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
// inconsistency that will be accepted by the filter // inconsistency that will be accepted by the filter
// boolean false is returned if variances are not available // boolean false is returned if variances are not available
bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const override; bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const override;
// returns the expected NED magnetic field // returns the expected NED magnetic field
bool get_mag_field_NED(Vector3f& ret) const; bool get_mag_field_NED(Vector3f& ret) const;