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AHRS: added ahrs.yaw_initialised() 

this allows the high level code to know if the AHRS driver has a
reliable yaw estimate
This commit is contained in:
Andrew Tridgell 2012-08-15 11:16:21 +10:00
parent 533aab4f66
commit 9b4b7997b6
4 changed files with 7 additions and 4 deletions
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7
libraries/AP_AHRS/AP_AHRS.h
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@ -107,7 +107,14 @@ public:
return Vector3f(0,0,0); return Vector3f(0,0,0);
} }
// return true if yaw has been initialised
bool yaw_initialised(void) {
return _have_initial_yaw;
}
protected: protected:
// whether the yaw value has been intialised with a reference
bool _have_initial_yaw;
// pointer to compass object, if available // pointer to compass object, if available
Compass * _compass; Compass * _compass;

1
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -64,7 +64,6 @@ public:
private: private:
float _ki; float _ki;
float _ki_yaw; float _ki_yaw;
bool _have_initial_yaw;
// Methods // Methods
void matrix_update(float _G_Dt); void matrix_update(float _G_Dt);

1
libraries/AP_AHRS/AP_AHRS_MPU6000.h
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@ -67,7 +67,6 @@ public:
private: private:
float _ki; float _ki;
float _ki_yaw; float _ki_yaw;
bool _have_initial_yaw;
AP_InertialSensor_MPU6000 *_mpu6000; AP_InertialSensor_MPU6000 *_mpu6000;
// Methods // Methods

2
libraries/AP_AHRS/AP_AHRS_Quaternion.h
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@ -58,8 +58,6 @@ private:
void update_IMU(float deltat, Vector3f &gyro, Vector3f &accel); void update_IMU(float deltat, Vector3f &gyro, Vector3f &accel);
void update_MARG(float deltat, Vector3f &gyro, Vector3f &accel, Vector3f &mag); void update_MARG(float deltat, Vector3f &gyro, Vector3f &accel, Vector3f &mag);
bool _have_initial_yaw;
// Methods // Methods
void accel_adjust(void); void accel_adjust(void);