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AP_NavEKF: rename EXTERNAL to GPS

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Randy Mackay 2020-12-22 17:07:38 +09:00 committed by Andrew Tridgell
parent c14b4a8b6c
commit 77af6df730
2 changed files with 13 additions and 13 deletions
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18
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
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@ -52,7 +52,7 @@ const AP_Param::GroupInfo AP_NavEKF_Source::var_info[] = {
// @Param: 1_YAW
// @DisplayName: Yaw Source
// @Description: Yaw Source
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav, 8:GSF
// @Values: 0:None, 1:Compass, 2:GPS, 3:GPS with Compass Fallback, 6:ExternalNav, 8:GSF
// @User: Advanced
AP_GROUPINFO("1_YAW", 5, AP_NavEKF_Source, _source_set[0].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::COMPASS),
@ -88,7 +88,7 @@ const AP_Param::GroupInfo AP_NavEKF_Source::var_info[] = {
// @Param: 2_YAW
// @DisplayName: Yaw Source (Secondary)
// @Description: Yaw Source (Secondary)
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav, 8:GSF
// @Values: 0:None, 1:Compass, 2:GPS, 3:GPS with Compass Fallback, 6:ExternalNav, 8:GSF
// @User: Advanced
AP_GROUPINFO("2_YAW", 10, AP_NavEKF_Source, _source_set[1].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::NONE),
#endif
@ -125,7 +125,7 @@ const AP_Param::GroupInfo AP_NavEKF_Source::var_info[] = {
// @Param: 3_YAW
// @DisplayName: Yaw Source (Tertiary)
// @Description: Yaw Source (Tertiary)
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav, 8:GSF
// @Values: 0:None, 1:Compass, 2:GPS, 3:GPS with Compass Fallback, 6:ExternalNav, 8:GSF
// @User: Advanced
AP_GROUPINFO("3_YAW", 15, AP_NavEKF_Source, _source_set[2].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::NONE),
#endif
@ -404,13 +404,13 @@ bool AP_NavEKF_Source::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
// check yaw
switch ((SourceYaw)_source_set[i].yaw.get()) {
case SourceYaw::NONE:
case SourceYaw::EXTERNAL:
case SourceYaw::GPS:
// valid yaw value
break;
case SourceYaw::COMPASS:
// skip compass check for easier user setup of compass-less operation
break;
case SourceYaw::EXTERNAL_COMPASS_FALLBACK:
case SourceYaw::GPS_COMPASS_FALLBACK:
compass_required = true;
break;
case SourceYaw::EXTNAV:
@ -514,14 +514,14 @@ bool AP_NavEKF_Source::wheel_encoder_enabled(void) const
return false;
}
// return true if ext yaw is enabled on any source
bool AP_NavEKF_Source::ext_yaw_enabled(void) const
// return true if GPS yaw is enabled on any source
bool AP_NavEKF_Source::gps_yaw_enabled(void) const
{
for (uint8_t i=0; i<AP_NAKEKF_SOURCE_SET_MAX; i++) {
const auto &src = _source_set[i];
const SourceYaw yaw = SourceYaw(src.yaw.get());
if (yaw == SourceYaw::EXTERNAL ||
yaw == SourceYaw::EXTERNAL_COMPASS_FALLBACK) {
if (yaw == SourceYaw::GPS ||
yaw == SourceYaw::GPS_COMPASS_FALLBACK) {
return true;
}
}

8
libraries/AP_NavEKF/AP_NavEKF_Source.h
View File

@ -40,8 +40,8 @@ public:
enum class SourceYaw : uint8_t {
NONE = 0,
COMPASS = 1,
EXTERNAL = 2,
EXTERNAL_COMPASS_FALLBACK = 3,
GPS = 2,
GPS_COMPASS_FALLBACK = 3,
EXTNAV = 6,
GSF = 8
};
@ -95,8 +95,8 @@ public:
// return true if ext nav is enabled on any source
bool ext_nav_enabled(void) const;
// return true if ext yaw is enabled on any source
bool ext_yaw_enabled(void) const;
// return true if GPS yaw is enabled on any source
bool gps_yaw_enabled(void) const;
// return true if wheel encoder is enabled on any source
bool wheel_encoder_enabled(void) const;