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AP_AHRS: Allow EKF to pull data from range finder object

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This commit is contained in:
Paul Riseborough 2015-04-16 07:43:42 +10:00 committed by Randy Mackay
parent 32f87d008a
commit 7f1749dc1c
2 changed files with 5 additions and 5 deletions
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4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -359,9 +359,9 @@ bool AP_AHRS_NavEKF::initialised(void) const
}; };
// write optical flow data to EKF // write optical flow data to EKF
void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange) void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas)
{ {
EKF.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, rangeHealth, rawSonarRange); EKF.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas);
} }
// inhibit GPS useage // inhibit GPS useage

6
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -34,9 +34,9 @@ class AP_AHRS_NavEKF : public AP_AHRS_DCM
{ {
public: public:
// Constructor // Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps) : AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng) :
AP_AHRS_DCM(ins, baro, gps), AP_AHRS_DCM(ins, baro, gps),
EKF(this, baro), EKF(this, baro, rng),
ekf_started(false), ekf_started(false),
startup_delay_ms(1000), startup_delay_ms(1000),
start_time_ms(0) start_time_ms(0)
@ -104,7 +104,7 @@ public:
bool get_relative_position_NED(Vector3f &vec) const; bool get_relative_position_NED(Vector3f &vec) const;
// write optical flow measurements to EKF // write optical flow measurements to EKF
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange); void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas);
// inibit GPS useage // inibit GPS useage
uint8_t setInhibitGPS(void); uint8_t setInhibitGPS(void);