Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 17:53:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: changes for new AHRS API

Browse Source
This commit is contained in:
Andrew Tridgell 2015-06-01 16:16:49 +10:00
parent 04ba5fa0bd
commit 9adc879253
2 changed files with 15 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/Parameters.cpp
View File

@ -1190,7 +1190,7 @@ const AP_Param::Info Plane::var_info[] PROGMEM = {
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
// @Group: EKF_ // @Group: EKF_
// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
GOBJECTN(ahrs.get_NavEKF_const(), NavEKF, "EKF_", NavEKF), GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
#endif #endif
AP_VAREND AP_VAREND

27
ArduPlane/Plane.h
View File

@ -172,9 +172,22 @@ private:
AP_InertialSensor ins; AP_InertialSensor ins;
#if RANGEFINDER_ENABLED == ENABLED
// rangefinder
RangeFinder rangefinder;
struct {
bool in_range;
float correction;
uint32_t last_correction_time_ms;
uint8_t in_range_count;
} rangefinder_state;
#endif
// Inertial Navigation EKF // Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder}; NavEKF EKF{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF};
#else #else
AP_AHRS_DCM ahrs {ins, barometer, gps}; AP_AHRS_DCM ahrs {ins, barometer, gps};
#endif #endif
@ -229,18 +242,6 @@ private:
// a pin for reading the receiver RSSI voltage. // a pin for reading the receiver RSSI voltage.
AP_HAL::AnalogSource *rssi_analog_source; AP_HAL::AnalogSource *rssi_analog_source;
#if RANGEFINDER_ENABLED == ENABLED
// rangefinder
RangeFinder rangefinder;
struct {
bool in_range;
float correction;
uint32_t last_correction_time_ms;
uint8_t in_range_count;
} rangefinder_state;
#endif
// Relay // Relay
AP_Relay relay; AP_Relay relay;