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AP_AHRS: rename ins get_primary_accel to get_first_usable_accel

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Peter Barker 2024-06-25 19:05:25 +10:00 committed by Andrew Tridgell
parent b45b07d539
commit a325ddbfa9
2 changed files with 7 additions and 7 deletions
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10
libraries/AP_AHRS/AP_AHRS.cpp
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@ -591,8 +591,8 @@ void AP_AHRS::update_EKF2(void)
// Use the primary EKF to select the primary gyro // Use the primary EKF to select the primary gyro
const AP_InertialSensor &_ins = AP::ins(); const AP_InertialSensor &_ins = AP::ins();
const int8_t primary_imu = EKF2.getPrimaryCoreIMUIndex(); const int8_t primary_imu = EKF2.getPrimaryCoreIMUIndex();
const uint8_t primary_gyro = primary_imu>=0?primary_imu:_ins.get_primary_gyro(); const uint8_t primary_gyro = primary_imu>=0?primary_imu:_ins.get_first_usable_gyro();
const uint8_t primary_accel = primary_imu>=0?primary_imu:_ins.get_primary_accel(); const uint8_t primary_accel = primary_imu>=0?primary_imu:_ins.get_first_usable_accel();
// get gyro bias for primary EKF and change sign to give gyro drift // get gyro bias for primary EKF and change sign to give gyro drift
// Note sign convention used by EKF is bias = measurement - truth // Note sign convention used by EKF is bias = measurement - truth
@ -660,8 +660,8 @@ void AP_AHRS::update_EKF3(void)
// Use the primary EKF to select the primary gyro // Use the primary EKF to select the primary gyro
const int8_t primary_imu = EKF3.getPrimaryCoreIMUIndex(); const int8_t primary_imu = EKF3.getPrimaryCoreIMUIndex();
const uint8_t primary_gyro = primary_imu>=0?primary_imu:_ins.get_primary_gyro(); const uint8_t primary_gyro = primary_imu>=0?primary_imu:_ins.get_first_usable_gyro();
const uint8_t primary_accel = primary_imu>=0?primary_imu:_ins.get_primary_accel(); const uint8_t primary_accel = primary_imu>=0?primary_imu:_ins.get_first_usable_accel();
// get gyro bias for primary EKF and change sign to give gyro drift // get gyro bias for primary EKF and change sign to give gyro drift
// Note sign convention used by EKF is bias = measurement - truth // Note sign convention used by EKF is bias = measurement - truth
@ -3215,7 +3215,7 @@ uint8_t AP_AHRS::_get_primary_IMU_index() const
#endif #endif
} }
if (imu == -1) { if (imu == -1) {
imu = AP::ins().get_primary_gyro(); imu = AP::ins().get_first_usable_gyro();
} }
return imu; return imu;
} }

4
libraries/AP_AHRS/AP_AHRS_Backend.h
View File

@ -77,7 +77,7 @@ public:
// get the index of the current primary accelerometer sensor // get the index of the current primary accelerometer sensor
virtual uint8_t get_primary_accel_index(void) const { virtual uint8_t get_primary_accel_index(void) const {
#if AP_INERTIALSENSOR_ENABLED #if AP_INERTIALSENSOR_ENABLED
return AP::ins().get_primary_accel(); return AP::ins().get_first_usable_accel();
#else #else
return 0; return 0;
#endif #endif
@ -86,7 +86,7 @@ public:
// get the index of the current primary gyro sensor // get the index of the current primary gyro sensor
virtual uint8_t get_primary_gyro_index(void) const { virtual uint8_t get_primary_gyro_index(void) const {
#if AP_INERTIALSENSOR_ENABLED #if AP_INERTIALSENSOR_ENABLED
return AP::ins().get_primary_gyro(); return AP::ins().get_first_usable_gyro();
#else #else
return 0; return 0;
#endif #endif