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AHRS: always use EKF for copter

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This commit is contained in:
Randy Mackay 2015-03-19 14:58:13 +09:00
parent c41ecca8d5
commit 98efcd5f03
4 changed files with 22 additions and 4 deletions
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6
libraries/AP_AHRS/AP_AHRS.cpp
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@ -18,6 +18,10 @@
#include <AP_HAL.h> #include <AP_HAL.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#if AHRS_EKF_USE_ALWAYS
const int8_t AP_AHRS::_ekf_use;
#endif
// table of user settable parameters // table of user settable parameters
const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = { const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// index 0 and 1 are for old parameters that are no longer not used // index 0 and 1 are for old parameters that are no longer not used
@ -111,7 +115,7 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
// NOTE: index 12 was for GPS_DELAY, but now removed, fixed delay // NOTE: index 12 was for GPS_DELAY, but now removed, fixed delay
// of 1 was found to be the best choice // of 1 was found to be the best choice
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE && !AHRS_EKF_USE_ALWAYS
// @Param: EKF_USE // @Param: EKF_USE
// @DisplayName: Use NavEKF Kalman filter for attitude and position estimation // @DisplayName: Use NavEKF Kalman filter for attitude and position estimation
// @Description: This controls whether the NavEKF Kalman filter is used for attitude and position estimation // @Description: This controls whether the NavEKF Kalman filter is used for attitude and position estimation

11
libraries/AP_AHRS/AP_AHRS.h
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@ -35,11 +35,13 @@
// Copter defaults to EKF on by default, all others off // Copter defaults to EKF on by default, all others off
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
#define AHRS_EKF_USE_DEFAULT 1 # define AHRS_EKF_USE_ALWAYS 1
#else #else
#define AHRS_EKF_USE_DEFAULT 0 # define AHRS_EKF_USE_ALWAYS 0
#endif #endif
#define AHRS_EKF_USE_DEFAULT 0
#define AP_AHRS_TRIM_LIMIT 10.0f // maximum trim angle in degrees #define AP_AHRS_TRIM_LIMIT 10.0f // maximum trim angle in degrees
#define AP_AHRS_RP_P_MIN 0.05f // minimum value for AHRS_RP_P parameter #define AP_AHRS_RP_P_MIN 0.05f // minimum value for AHRS_RP_P parameter
#define AP_AHRS_YAW_P_MIN 0.05f // minimum value for AHRS_YAW_P parameter #define AP_AHRS_YAW_P_MIN 0.05f // minimum value for AHRS_YAW_P parameter
@ -368,7 +370,12 @@ protected:
AP_Int8 _board_orientation; AP_Int8 _board_orientation;
AP_Int8 _gps_minsats; AP_Int8 _gps_minsats;
AP_Int8 _gps_delay; AP_Int8 _gps_delay;
#if AHRS_EKF_USE_ALWAYS
static const int8_t _ekf_use = 1;
#else
AP_Int8 _ekf_use; AP_Int8 _ekf_use;
#endif
// flags structure // flags structure
struct ahrs_flags { struct ahrs_flags {

7
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -312,6 +312,13 @@ bool AP_AHRS_NavEKF::healthy(void) const
return AP_AHRS_DCM::healthy(); return AP_AHRS_DCM::healthy();
} }
void AP_AHRS_NavEKF::set_ekf_use(bool setting)
{
#if !AHRS_EKF_USE_ALWAYS
_ekf_use.set(setting);
#endif
}
// true if the AHRS has completed initialisation // true if the AHRS has completed initialisation
bool AP_AHRS_NavEKF::initialised(void) const bool AP_AHRS_NavEKF::initialised(void) const
{ {

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -111,7 +111,7 @@ public:
// get speed limit // get speed limit
void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler); void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler);
void set_ekf_use(bool setting) { _ekf_use.set(setting); } void set_ekf_use(bool setting);
// is the AHRS subsystem healthy? // is the AHRS subsystem healthy?
bool healthy(void) const; bool healthy(void) const;