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AP_AHRS: move init of dcm state into variable declarations

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Peter Barker 2021-07-20 14:21:09 +10:00 committed by Peter Barker
parent 4f9201a160
commit a4d98a457b
1 changed files with 9 additions and 15 deletions
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24
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -27,17 +27,8 @@ class AP_AHRS_DCM : public AP_AHRS_Backend {
public:
AP_AHRS_DCM()
: AP_AHRS_Backend()
, _error_rp(1.0f)
, _error_yaw(1.0f)
, _mag_earth(1, 0)
, _imu1_weight(0.5f)
{
_dcm_matrix.identity();
// these are experimentally derived from the simulator
// with large drift levels
_ki = 0.0087f;
_ki_yaw = 0.01f;
}
/* Do not allow copies */
@ -124,8 +115,11 @@ public:
bool pre_arm_check(bool requires_position, char *failure_msg, uint8_t failure_msg_len) const override;
private:
float _ki;
float _ki_yaw;
// these are experimentally derived from the simulator
// with large drift levels
static constexpr float _ki = 0.0087f;
static constexpr float _ki_yaw = 0.01f;
// Methods
void matrix_update(float _G_Dt);
@ -167,8 +161,8 @@ private:
// state to support status reporting
float _renorm_val_sum;
uint16_t _renorm_val_count;
float _error_rp;
float _error_yaw;
float _error_rp{1.0f};
float _error_yaw{1.0f};
// time in millis when we last got a GPS heading
uint32_t _gps_last_update;
@ -181,7 +175,7 @@ private:
// the earths magnetic field
float _last_declination;
Vector2f _mag_earth;
Vector2f _mag_earth{1, 0};
// whether we have GPS lock
bool _have_gps_lock;
@ -207,7 +201,7 @@ private:
// estimated wind in m/s
Vector3f _wind;
float _imu1_weight;
float _imu1_weight{0.5f};
// last time AHRS failed in milliseconds
uint32_t _last_failure_ms;