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Copter: use only InertialNav_EKF

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remove calls to unsupported functions including ignore_next_error,
set_altitude, etc.
This commit is contained in:
Randy Mackay 2015-03-12 22:24:40 +09:00
parent 9012c538fb
commit 6f6847c025
7 changed files with 3 additions and 27 deletions
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4
ArduCopter/ArduCopter.pde
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@ -602,11 +602,7 @@ static float G_Dt = 0.02;
////////////////////////////////////////////////////////////////////////////////
// Inertial Navigation
////////////////////////////////////////////////////////////////////////////////
#if AP_AHRS_NAVEKF_AVAILABLE
static AP_InertialNav_NavEKF inertial_nav(ahrs, barometer, gps_glitch);
#else
static AP_InertialNav inertial_nav(ahrs, barometer, gps_glitch);
#endif
////////////////////////////////////////////////////////////////////////////////
// Attitude, Position and Waypoint navigation objects

6
ArduCopter/Log.pde
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@ -339,7 +339,6 @@ struct PACKED log_Performance {
int16_t pm_test;
uint8_t i2c_lockup_count;
uint16_t ins_error_count;
uint8_t inav_error_count;
};
// Write a performance monitoring packet
@ -352,8 +351,7 @@ static void Log_Write_Performance()
max_time : perf_info_get_max_time(),
pm_test : pmTest1,
i2c_lockup_count : hal.i2c->lockup_count(),
ins_error_count : ins.error_count(),
inav_error_count : inertial_nav.error_count()
ins_error_count : ins.error_count()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
}
@ -607,7 +605,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
"CTUN", "Ihhhffecchh", "TimeMS,ThrIn,AngBst,ThrOut,DAlt,Alt,BarAlt,DSAlt,SAlt,DCRt,CRt" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "HHIhBHB", "NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" },
"PM", "HHIhBH", "NLon,NLoop,MaxT,PMT,I2CErr,INSErr" },
{ LOG_RATE_MSG, sizeof(log_Rate),
"RATE", "Ifffffffff", "TimeMS,RllDes,Rll,RllOut,PitDes,Pit,PitOut,YawDes,Yaw,YawOut" },
{ LOG_MOT_MSG, sizeof(log_Mot),

2
ArduCopter/Parameters.h
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@ -167,7 +167,7 @@ public:
//
// 100: Inertial Nav
//
k_param_inertial_nav = 100,
k_param_inertial_nav = 100, // deprecated
k_param_wp_nav,
k_param_attitude_control,
k_param_pos_control,

4
ArduCopter/Parameters.pde
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@ -810,10 +810,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
GOBJECT(ins, "INS_", AP_InertialSensor),
// @Group: INAV_
// @Path: ../libraries/AP_InertialNav/AP_InertialNav.cpp
GOBJECT(inertial_nav, "INAV_", AP_InertialNav),
// @Group: WPNAV_
// @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
GOBJECT(wp_nav, "WPNAV_", AC_WPNav),

2
ArduCopter/commands.pde
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@ -87,8 +87,6 @@ static bool set_home(const Location& loc)
if (g.compass_enabled) {
compass.set_initial_location(gps.location().lat, gps.location().lng);
}
// set inertial nav home
inertial_nav.setup_home_position();
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
scaleLongDown = longitude_scale(loc);
scaleLongUp = 1.0f/scaleLongDown;

9
ArduCopter/motors.pde
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@ -117,9 +117,6 @@ static bool init_arm_motors(bool arming_from_gcs)
// disable cpu failsafe because initialising everything takes a while
failsafe_disable();
// disable inertial nav errors temporarily
inertial_nav.ignore_next_error();
// reset battery failsafe
set_failsafe_battery(false);
@ -162,9 +159,6 @@ static bool init_arm_motors(bool arming_from_gcs)
// fast baro calibration to reset ground pressure
init_barometer(false);
// reset inertial nav alt to zero
inertial_nav.set_altitude(0.0f);
// go back to normal AHRS gains
ahrs.set_fast_gains(false);
@ -688,9 +682,6 @@ static void init_disarm_motors()
motors.armed(false);
// disable inertial nav errors temporarily
inertial_nav.ignore_next_error();
// save offsets if automatic offset learning is on
if (compass.learn_offsets_enabled()) {
compass.save_offsets();

3
ArduCopter/system.pde
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@ -208,9 +208,6 @@ static void init_ardupilot()
// init the optical flow sensor
init_optflow();
// initialise inertial nav
inertial_nav.init();
// initialise camera mount
camera_mount.init(serial_manager);