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AP_AHRS : set NavEKF staticMode using call to set_correct_centrigual

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This commit is contained in:
Paul Riseborough 2014-01-31 09:41:13 +11:00 committed by Andrew Tridgell
parent 5c3dea28dc
commit a87df0ad56
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -89,6 +89,13 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
} }
} }
void AP_AHRS_NavEKF::set_correct_centrifugal(bool setting)
{
if (ekf_started) {
EKF.SetStaticMode(setting);
}
}
// reset the current attitude, used on new IMU calibration // reset the current attitude, used on new IMU calibration
void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw) void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
{ {
@ -191,9 +198,6 @@ Vector2f AP_AHRS_NavEKF::groundspeed_vector(void)
void AP_AHRS_NavEKF::set_home(int32_t lat, int32_t lng, int32_t alt_cm) void AP_AHRS_NavEKF::set_home(int32_t lat, int32_t lng, int32_t alt_cm)
{ {
AP_AHRS_DCM::set_home(lat, lng, alt_cm); AP_AHRS_DCM::set_home(lat, lng, alt_cm);
if (ekf_started) {
EKF.ResetPosition();
}
} }
// return true if inertial navigation is active // return true if inertial navigation is active