AP_InertialNav: reanme AP_InertialNav and ThirdOrderCompFilter classes to resolve desktop build compiler errors

ArduCopter/ArduCopter.pde

@@ -105,8 +105,8 @@
 #include <AP_Camera.h>          // Photo or video camera
 #include <AP_Mount.h>           // Camera/Antenna mount
 #include <AP_Airspeed.h>    // needed for AHRS build
-#include <AP_InertialNav3D.h>     // ArduPilot Mega inertial navigation library
+#include <AP_InertialNav.h>     // ArduPilot Mega inertial navigation library
-#include <ThirdOrderCompFilter3D.h>   // Complementary filter for combining barometer altitude with accelerometers
+#include <ThirdOrderCompFilter.h>   // Complementary filter for combining barometer altitude with accelerometers
 #include <memcheck.h>
 
 // Configuration
@@ -857,7 +857,7 @@ static float G_Dt               = 0.02;
 // Inertial Navigation
 ////////////////////////////////////////////////////////////////////////////////
 #if INERTIAL_NAV == ENABLED
-AP_InertialNav3D  inertial_nav(&ahrs, &ins, &barometer, &g_gps);
+AP_InertialNav  inertial_nav(&ahrs, &ins, &barometer, &g_gps);
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////

ArduCopter/Log.pde

@@ -790,10 +790,10 @@ static void Log_Write_INAV(float delta_t)
     DataFlash.WriteInt((int16_t)inertial_nav._position.z);                  // 2 accel + baro filtered altitude
     DataFlash.WriteInt((int16_t)climb_rate_actual);                         // 3 barometer based climb rate
     DataFlash.WriteInt((int16_t)inertial_nav._velocity.z);                  // 4 accel + baro based climb rate
-    DataFlash.WriteLong(get_int(inertial_nav._comp_filter3D._comp_k1o.x));  // 5 accel correction x-axis
+    DataFlash.WriteLong(get_int(inertial_nav._comp_filter._comp_k1o.x));  // 5 accel correction x-axis
-    DataFlash.WriteLong(get_int(inertial_nav._comp_filter3D._comp_k1o.y));  // 6 accel correction y-axis
+    DataFlash.WriteLong(get_int(inertial_nav._comp_filter._comp_k1o.y));  // 6 accel correction y-axis
-    DataFlash.WriteLong(get_int(inertial_nav._comp_filter3D._comp_k1o.z));  // 7 accel correction z-axis
+    DataFlash.WriteLong(get_int(inertial_nav._comp_filter._comp_k1o.z));  // 7 accel correction z-axis
-    DataFlash.WriteLong(get_int(inertial_nav._comp_filter3D.comp_k1o_ef.z));// 8 accel correction earth frame
+    DataFlash.WriteLong(get_int(inertial_nav._comp_filter.comp_k1o_ef.z));// 8 accel correction earth frame
     DataFlash.WriteLong(get_int(inertial_nav._accel_ef.x));                 // 9 accel earth frame x-axis
     DataFlash.WriteLong(get_int(inertial_nav._accel_ef.y));                 // 10 accel earth frame y-axis
     DataFlash.WriteLong(get_int(inertial_nav._accel_ef.z));                 // 11 accel earth frame z-axis

ArduCopter/Parameters.pde

@@ -371,7 +371,7 @@ const AP_Param::Info var_info[] PROGMEM = {
 #if INERTIAL_NAV == ENABLED
     // @Group: INAV_
     // @Path: ../libraries/AP_InertialNav/AP_InertialNav.cpp
-    GOBJECT(inertial_nav,           "INAV_",    AP_InertialNav3D),
+    GOBJECT(inertial_nav,           "INAV_",    AP_InertialNav),
 #endif
 
     GOBJECT(gcs0,                   "SR0_",     GCS_MAVLINK),

libraries/AP_InertialNav/AP_InertialNav.cpp

@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 #include <FastSerial.h>
-#include <AP_InertialNav3D.h>
+#include <AP_InertialNav.h>
 
 #if defined(ARDUINO) && ARDUINO >= 100
  #include "Arduino.h"
@@ -9,36 +9,36 @@
 #endif
 
 // table of user settable parameters
-const AP_Param::GroupInfo AP_InertialNav3D::var_info[] PROGMEM = {
+const AP_Param::GroupInfo AP_InertialNav::var_info[] PROGMEM = {
 	// index 0 and 1 are for old parameters that are no longer used
 
     // @Param: ACORR
     // @DisplayName: Inertial Nav calculated accelerometer corrections
     // @Description: calculated accelerometer corrections
     // @Increment: 1
-    AP_GROUPINFO("ACORR",   0, AP_InertialNav3D, _accel_correction, 0),
+    AP_GROUPINFO("ACORR",   0, AP_InertialNav, _accel_correction, 0),
 
     // @Param: TC_XY
     // @DisplayName: Horizontal Time Constant
     // @Description: Time constnat for GPS and accel mixing. Higher TC increases GPS impact on position
     // @Range: 0 10
     // @Increment: 0.1
-    AP_GROUPINFO("TC_XY",   1, AP_InertialNav3D, _time_constant_xy, AP_INTERTIALNAV_TC_XY),
+    AP_GROUPINFO("TC_XY",   1, AP_InertialNav, _time_constant_xy, AP_INTERTIALNAV_TC_XY),
 
     // @Param: TC_Z
     // @DisplayName: Vertical Time Constant
     // @Description: Time constnat for baro and accel mixing. Higher TC increases barometers impact on altitude
     // @Range: 0 10
     // @Increment: 0.1
-    AP_GROUPINFO("TC_Z",    2, AP_InertialNav3D, _time_constant_z, AP_INTERTIALNAV_TC_Z),
+    AP_GROUPINFO("TC_Z",    2, AP_InertialNav, _time_constant_z, AP_INTERTIALNAV_TC_Z),
 
     AP_GROUPEND
 };
 
 // save_params - save all parameters to eeprom
-void AP_InertialNav3D::save_params()
+void AP_InertialNav::save_params()
 {
-    Vector3f accel_corr = _comp_filter3D.get_1st_order_correction();
+    Vector3f accel_corr = _comp_filter.get_1st_order_correction();
     accel_corr.x = constrain(accel_corr.x,-200,200);
     accel_corr.y = constrain(accel_corr.y,-200,200);
     accel_corr.z = constrain(accel_corr.z,-200,200);
@@ -46,27 +46,27 @@ void AP_InertialNav3D::save_params()
 }
 
 // set time constant - set timeconstant used by complementary filter
-void AP_InertialNav3D::set_time_constant_xy( float time_constant_in_seconds )
+void AP_InertialNav::set_time_constant_xy( float time_constant_in_seconds )
 {
     // ensure it's a reasonable value
     if( time_constant_in_seconds > 0 && time_constant_in_seconds < 30 ) {
         _time_constant_xy = time_constant_in_seconds;
-        _comp_filter3D.update_gains(_time_constant_xy, _time_constant_z);
+        _comp_filter.update_gains(_time_constant_xy, _time_constant_z);
     }
 }
 
 // set time constant - set timeconstant used by complementary filter
-void AP_InertialNav3D::set_time_constant_z( float time_constant_in_seconds )
+void AP_InertialNav::set_time_constant_z( float time_constant_in_seconds )
 {
     // ensure it's a reasonable value
     if( time_constant_in_seconds > 0 && time_constant_in_seconds < 30 ) {
         _time_constant_z = time_constant_in_seconds;
-        _comp_filter3D.update_gains(_time_constant_xy, _time_constant_z);
+        _comp_filter.update_gains(_time_constant_xy, _time_constant_z);
     }
 }
 
 // check_baro - check if new baro readings have arrived and use them to correct vertical accelerometer offsets
-void AP_InertialNav3D::check_baro()
+void AP_InertialNav::check_baro()
 {
     uint32_t baro_update_time;
 
@@ -85,7 +85,7 @@ void AP_InertialNav3D::check_baro()
 
 
 // correct_with_baro - modifies accelerometer offsets using barometer.  dt is time since last baro reading
-void AP_InertialNav3D::correct_with_baro(float baro_alt, float dt)
+void AP_InertialNav::correct_with_baro(float baro_alt, float dt)
 {
     static uint8_t first_reads = 0;
 
@@ -96,8 +96,8 @@ void AP_InertialNav3D::correct_with_baro(float baro_alt, float dt)
 
     // discard first 10 reads but perform some initialisation
     if( first_reads <= 10 ) {
-        _comp_filter3D.set_3rd_order_z(baro_alt);
+        _comp_filter.set_3rd_order_z(baro_alt);
-        //_comp_filter3D.set_2nd_order_z(climb_rate);
+        //_comp_filter.set_2nd_order_z(climb_rate);
         first_reads++;
     }
 
@@ -105,11 +105,11 @@ void AP_InertialNav3D::correct_with_baro(float baro_alt, float dt)
     Matrix3f dcm = _ahrs->get_dcm_matrix();
 
     // provide baro alt to filter
-    _comp_filter3D.correct_3rd_order_z(baro_alt, dcm, dt);
+    _comp_filter.correct_3rd_order_z(baro_alt, dcm, dt);
 }
 
 // set_current_position - all internal calculations are recorded as the distances from this point
-void AP_InertialNav3D::set_current_position(int32_t lon, int32_t lat)
+void AP_InertialNav::set_current_position(int32_t lon, int32_t lat)
 {
     // set base location
     _base_lon = lon;
@@ -120,14 +120,14 @@ void AP_InertialNav3D::set_current_position(int32_t lon, int32_t lat)
     _lon_to_m_scaling = cos((fabs((float)lat)/10000000.0) * 0.0174532925);
 
     // set estimated position to this position
-    _comp_filter3D.set_3rd_order_xy(0,0);
+    _comp_filter.set_3rd_order_xy(0,0);
 
     // set xy as enabled
     _xy_enabled = true;
 }
 
 // check_gps - check if new gps readings have arrived and use them to correct position estimates
-void AP_InertialNav3D::check_gps()
+void AP_InertialNav::check_gps()
 {
     uint32_t gps_time;
     uint32_t now;
@@ -155,7 +155,7 @@ void AP_InertialNav3D::check_gps()
 }
 
 // correct_with_gps - modifies accelerometer offsets using gps.  dt is time since last gps update
-void AP_InertialNav3D::correct_with_gps(int32_t lon, int32_t lat, float dt)
+void AP_InertialNav::correct_with_gps(int32_t lon, int32_t lat, float dt)
 {
     float x,y;
 
@@ -174,12 +174,12 @@ void AP_InertialNav3D::correct_with_gps(int32_t lon, int32_t lat, float dt)
     Matrix3f dcm = _ahrs->get_dcm_matrix();
 
     // call comp filter's correct xy
-    _comp_filter3D.correct_3rd_order_xy(-x, -y, dcm, dt);
+    _comp_filter.correct_3rd_order_xy(-x, -y, dcm, dt);
     //Notes: with +x above, accel lat comes out reversed
 }
 
 // update - updates velocities and positions using latest info from ahrs, ins and barometer if new data is available;
-void AP_InertialNav3D::update(float dt)
+void AP_InertialNav::update(float dt)
 {
     // discard samples where dt is too large
     if( dt > 0.1 ) {
@@ -210,24 +210,24 @@ void AP_InertialNav3D::update(float dt)
     }
 
     // provide accelerometer values to filter
-    _comp_filter3D.add_1st_order_sample(_accel_ef);
+    _comp_filter.add_1st_order_sample(_accel_ef);
 
     // recalculate estimates
-    _comp_filter3D.calculate(dt, dcm);
+    _comp_filter.calculate(dt, dcm);
     
     // get position and velocity estimates
-    _position = _comp_filter3D.get_3rd_order_estimate();
+    _position = _comp_filter.get_3rd_order_estimate();
-    _velocity = _comp_filter3D.get_2nd_order_estimate();
+    _velocity = _comp_filter.get_2nd_order_estimate();
 }
 
 // position_ok - return true if position has been initialised and have received gps data within 3 seconds
-bool AP_InertialNav3D::position_ok()
+bool AP_InertialNav::position_ok()
 {
     return _xy_enabled && (millis() - _gps_last_update < 3000);
 }
 
 // get accel based latitude
-int32_t AP_InertialNav3D::get_latitude()
+int32_t AP_InertialNav::get_latitude()
 {
     // make sure we've been initialised
     if( !_xy_enabled ) {
@@ -239,7 +239,7 @@ int32_t AP_InertialNav3D::get_latitude()
 }
 
 // get accel based longitude
-int32_t AP_InertialNav3D::get_longitude()
+int32_t AP_InertialNav::get_longitude()
 {
     // make sure we've been initialised
     if( !_xy_enabled ) {
@@ -251,7 +251,7 @@ int32_t AP_InertialNav3D::get_longitude()
 }
 
 // get accel based latitude
-float AP_InertialNav3D::get_latitude_diff()
+float AP_InertialNav::get_latitude_diff()
 {
     // make sure we've been initialised
     if( !_xy_enabled ) {
@@ -264,7 +264,7 @@ float AP_InertialNav3D::get_latitude_diff()
 }
 
 // get accel based longitude
-float AP_InertialNav3D::get_longitude_diff()
+float AP_InertialNav::get_longitude_diff()
 {
     // make sure we've been initialised
     if( !_xy_enabled ) {
@@ -277,7 +277,7 @@ float AP_InertialNav3D::get_longitude_diff()
 }
 
 // get velocity in latitude & longitude directions
-float AP_InertialNav3D::get_latitude_velocity()
+float AP_InertialNav::get_latitude_velocity()
 {
     // make sure we've been initialised
     if( !_xy_enabled ) {
@@ -288,7 +288,7 @@ float AP_InertialNav3D::get_latitude_velocity()
     // Note: is +_velocity.x the output velocity in logs is in reverse direction from accel lat
 }
 
-float AP_InertialNav3D::get_longitude_velocity()
+float AP_InertialNav::get_longitude_velocity()
 {
     // make sure we've been initialised
     if( !_xy_enabled ) {

libraries/AP_InertialNav/AP_InertialNav.h

@@ -1,26 +1,26 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-#ifndef __AP_INERTIALNAV3D_H__
+#ifndef __AP_INERTIALNAV_H__
-#define __AP_INERTIALNAV3D_H__
+#define __AP_INERTIALNAV_H__
 
 #include <AP_AHRS.h>
 #include <AP_InertialSensor.h>          // ArduPilot Mega IMU Library
 #include <AP_Baro.h>                    // ArduPilot Mega Barometer Library
-#include <ThirdOrderCompFilter3D.h>     // Complementary filter for combining barometer altitude with accelerometers
+#include <ThirdOrderCompFilter.h>     // Complementary filter for combining barometer altitude with accelerometers
 
 #define AP_INTERTIALNAV_GRAVITY 9.80665
 #define AP_INTERTIALNAV_TC_XY   3.0 // default time constant for complementary filter's X & Y axis
 #define AP_INTERTIALNAV_TC_Z    1.5 // default time constant for complementary filter's Z axis
 
 /*
- * AP_InertialNav3D is an attempt to use accelerometers to augment other sensors to improve altitud e position hold
+ * AP_InertialNav is an attempt to use accelerometers to augment other sensors to improve altitud e position hold
  */
-class AP_InertialNav3D
+class AP_InertialNav
 {
 public:
 
     // Constructor
-    AP_InertialNav3D( AP_AHRS* ahrs, AP_InertialSensor* ins, AP_Baro* baro, GPS** gps_ptr ) :
+    AP_InertialNav( AP_AHRS* ahrs, AP_InertialSensor* ins, AP_Baro* baro, GPS** gps_ptr ) :
         _ahrs(ahrs),
         _ins(ins),
         _baro(baro),
@@ -28,7 +28,7 @@ public:
         _baro_last_update(0),
         _gps_last_update(0),
         _xy_enabled(false),
-        _comp_filter3D(AP_INTERTIALNAV_TC_XY, AP_INTERTIALNAV_TC_Z)
+        _comp_filter(AP_INTERTIALNAV_TC_XY, AP_INTERTIALNAV_TC_Z)
         {}
 
     // Initialisation
@@ -70,11 +70,11 @@ public:
 
     // get_altitude - get latest altitude estimate in cm
     virtual float       get_altitude() { return _position.z; }
-    virtual void        set_altitude( int32_t new_altitude) { _comp_filter3D.set_3rd_order_z(new_altitude); }
+    virtual void        set_altitude( int32_t new_altitude) { _comp_filter.set_3rd_order_z(new_altitude); }
 
     // get_velocity_z - get latest climb rate (in cm/s)
     virtual float       get_velocity_z() { return _velocity.z; }
-    virtual void        set_velocity_z( int32_t new_velocity ) { _comp_filter3D.set_2nd_order_z(new_velocity); }
+    virtual void        set_velocity_z( int32_t new_velocity ) { _comp_filter.set_2nd_order_z(new_velocity); }
 
     // get latitude & longitude positions
     virtual int32_t     get_latitude();
@@ -114,8 +114,8 @@ public:
     int32_t         _base_lon;              // base longitude
     float           _lon_to_m_scaling;      // conversion of longitude to meters
 
-    ThirdOrderCompFilter3D   _comp_filter3D;   // 3rd order complementary filter for combining baro readings with accelerometers
+    ThirdOrderCompFilter   _comp_filter;   // 3rd order complementary filter for combining baro readings with accelerometers
 
 };
 
-#endif // __AP_INERTIALNAV3D_H__
+#endif // __AP_INERTIALNAV_H__

libraries/AP_InertialNav/examples/AP_InertialNav_test/AP_InertialNav_test.pde

@@ -24,8 +24,8 @@
 #include <AP_Airspeed.h>
 #include <AC_PID.h>             // PID library
 #include <APM_PI.h>             // PID library
-#include <AP_InertialNav3D.h>
+#include <AP_InertialNav.h>
-#include <ThirdOrderCompFilter3D.h>   // Complementary filter for combining barometer altitude with accelerometers
+#include <ThirdOrderCompFilter.h>   // Complementary filter for combining barometer altitude with accelerometers
 #include <AP_Buffer.h>          // ArduPilot general purpose FIFO buffer
 
 FastSerialPort(Serial, 0);

libraries/Filter/ThirdOrderCompFilter.cpp

@@ -1,6 +1,6 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 #include <FastSerial.h>
-#include <ThirdOrderCompFilter3D.h>
+#include <ThirdOrderCompFilter.h>
 
 #if defined(ARDUINO) && ARDUINO >= 100
  #include "Arduino.h"
@@ -11,7 +11,7 @@
 // Public Methods //////////////////////////////////////////////////////////////
 
 // update_gains - update gains from time constant (given in seconds)
-void ThirdOrderCompFilter3D::update_gains(float time_constant_seconds_xy, float time_constant_seconds_z)
+void ThirdOrderCompFilter::update_gains(float time_constant_seconds_xy, float time_constant_seconds_z)
 {
     static float last_time_constant_xy = 0;
     static float last_time_constant_z = 0;
@@ -42,7 +42,7 @@ void ThirdOrderCompFilter3D::update_gains(float time_constant_seconds_xy, float
 }
 
 // set_3rd_order - resets the first order value (i.e. position)
-void ThirdOrderCompFilter3D::set_3rd_order_xy(float x, float y)
+void ThirdOrderCompFilter::set_3rd_order_xy(float x, float y)
 {
     _comp_h.x = x;
     _comp_h.y = y;
@@ -55,27 +55,27 @@ void ThirdOrderCompFilter3D::set_3rd_order_xy(float x, float y)
 }
 
 // set_3rd_order - resets the first order value (i.e. position)
-void ThirdOrderCompFilter3D::set_3rd_order_z(float z )
+void ThirdOrderCompFilter::set_3rd_order_z(float z )
 {
     _comp_h.z = z;
     _comp_h_correction.z = 0;
 }
 
 // set_2nd_order - resets the second order value (i.e. velocity)
-void ThirdOrderCompFilter3D::set_2nd_order_xy(float x, float y)
+void ThirdOrderCompFilter::set_2nd_order_xy(float x, float y)
 {
     _comp_v.x = x;
     _comp_v.y = y;
 }
 
 // set_2nd_order - resets the second order value (i.e. velocity)
-void ThirdOrderCompFilter3D::set_2nd_order_z(float z )
+void ThirdOrderCompFilter::set_2nd_order_z(float z )
 {
     _comp_v.z = z;
 }
 
 // correct_3rd_order_z - correct accelerometer offsets using barometer or gps
-void ThirdOrderCompFilter3D::correct_3rd_order_xy(float x, float y, Matrix3f& dcm_matrix, float deltat)
+void ThirdOrderCompFilter::correct_3rd_order_xy(float x, float y, Matrix3f& dcm_matrix, float deltat)
 {
     float hist_comp_h_x, hist_comp_h_y;
     
@@ -106,7 +106,7 @@ void ThirdOrderCompFilter3D::correct_3rd_order_xy(float x, float y, Matrix3f& dc
 }
 
 // correct_3rd_order_z - correct accelerometer offsets using barometer or gps
-void ThirdOrderCompFilter3D::correct_3rd_order_z(float third_order_sample, Matrix3f& dcm_matrix, float deltat)
+void ThirdOrderCompFilter::correct_3rd_order_z(float third_order_sample, Matrix3f& dcm_matrix, float deltat)
 {
     float hist_comp_h_z;
     
@@ -133,7 +133,7 @@ void ThirdOrderCompFilter3D::correct_3rd_order_z(float third_order_sample, Matri
 }
 
 // recalculate the 2nd and 3rd order estimates
-void ThirdOrderCompFilter3D::calculate(float deltat, Matrix3f& dcm_matrix)
+void ThirdOrderCompFilter::calculate(float deltat, Matrix3f& dcm_matrix)
 {
     // get earth frame accelerometer correction
     comp_k1o_ef = dcm_matrix * _comp_k1o;

libraries/Filter/ThirdOrderCompFilter.h

@@ -6,12 +6,12 @@
 // your option) any later version.
 //
 
-/// @file	ThirdOrderCompFilter3D.h
+/// @file	ThirdOrderCompFilter.h
 /// @brief	A class to implement third order complementary filter (for combining barometer and GPS with accelerometer data)
 /// math provided by Jonathan Challenger
 
-#ifndef __THIRDORDERCOMPFILTER3D_H__
+#ifndef __THIRD_ORDER_COMP_FILTER_H__
-#define __THIRDORDERCOMPFILTER3D_H__
+#define __THIRD_ORDER_COMP_FILTER_H__
 
 #include <inttypes.h>
 #include <AP_Math.h>               // Math library for matrix and vector math
@@ -24,11 +24,11 @@
 
 #define THIRD_ORDER_COMP_FILTER_HISTORIC_XY_SAVE_COUNTER_DEFAULT THIRD_ORDER_SAVE_POS_10HZ
 
-class ThirdOrderCompFilter3D
+class ThirdOrderCompFilter
 {
 public:
     // constructor
-    ThirdOrderCompFilter3D(float time_constant_seconds_xy, float time_constant_seconds_z)
+    ThirdOrderCompFilter(float time_constant_seconds_xy, float time_constant_seconds_z)
         {
             update_gains(time_constant_seconds_xy, time_constant_seconds_z);
         };
@@ -86,4 +86,4 @@ public:
     Vector3f        comp_k1o_ef;                            // accelerometer correction in earth frame (only z element is used).  here for debug purposes
 };
 
-#endif // __THIRDORDERCOMPFILTER3D_H__
+#endif // __THIRD_ORDER_COMP_FILTER_H__