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AP_NavEKF2: remove combined NED local position interface

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This commit is contained in:
priseborough 2016-07-10 18:49:09 +10:00 committed by Andrew Tridgell
parent e374ec634d
commit b1717649b1
4 changed files with 0 additions and 64 deletions
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13
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -673,19 +673,6 @@ int8_t NavEKF2::getPrimaryCoreIndex(void) const
return primary; return primary;
} }
// Return the last calculated NED position relative to the reference point (m).
// If a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control
bool NavEKF2::getPosNED(int8_t instance, Vector3f &pos)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (!core) {
return false;
}
return core[instance].getPosNED(pos);
}
// Return the last calculated NE position relative to the reference point (m). // Return the last calculated NE position relative to the reference point (m).
// If a calculated solution is not available, use the best available data and return false // If a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control // If false returned, do not use for flight control

6
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -62,12 +62,6 @@ public:
// return -1 if no primary core selected // return -1 if no primary core selected
int8_t getPrimaryCoreIndex(void) const; int8_t getPrimaryCoreIndex(void) const;
// Return the last calculated NED position relative to the reference point (m) for the specified instance.
// An out of range instance (eg -1) returns data for the the primary instance
// If a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control
bool getPosNED(int8_t instance, Vector3f &pos);
// Return the last calculated NE position relative to the reference point (m) for the specified instance. // Return the last calculated NE position relative to the reference point (m) for the specified instance.
// An out of range instance (eg -1) returns data for the the primary instance // An out of range instance (eg -1) returns data for the the primary instance
// If a calculated solution is not available, use the best available data and return false // If a calculated solution is not available, use the best available data and return false

40
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -209,46 +209,6 @@ void NavEKF2_core::getAccelZBias(float &zbias) const {
} }
} }
// Return the last calculated NED position relative to the reference point (m).
// if a calculated solution is not available, use the best available data and return false
bool NavEKF2_core::getPosNED(Vector3f &pos) const
{
// The EKF always has a height estimate regardless of mode of operation
pos.z = outputDataNew.position.z;
// There are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no position estimate available)
nav_filter_status status;
getFilterStatus(status);
if (PV_AidingMode != AID_NONE) {
// This is the normal mode of operation where we can use the EKF position states
pos.x = outputDataNew.position.x;
pos.y = outputDataNew.position.y;
return true;
} else {
// In constant position mode the EKF position states are at the origin, so we cannot use them as a position estimate
if(validOrigin) {
if ((_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_2D)) {
// If the origin has been set and we have GPS, then return the GPS position relative to the origin
const struct Location &gpsloc = _ahrs->get_gps().location();
Vector2f tempPosNE = location_diff(EKF_origin, gpsloc);
pos.x = tempPosNE.x;
pos.y = tempPosNE.y;
return false;
} else {
// If no GPS fix is available, all we can do is provide the last known position
pos.x = outputDataNew.position.x;
pos.y = outputDataNew.position.y;
return false;
}
} else {
// If the origin has not been set, then we have no means of providing a relative position
pos.x = 0.0f;
pos.y = 0.0f;
return false;
}
}
return false;
}
// Return the last estimated NE position relative to the reference point (m). // Return the last estimated NE position relative to the reference point (m).
// Return true if the estimate is valid // Return true if the estimate is valid
bool NavEKF2_core::getPosNE(Vector2f &posNE) const bool NavEKF2_core::getPosNE(Vector2f &posNE) const

5
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -66,11 +66,6 @@ public:
// Intended to be used by the front-end to determine which is the primary EKF // Intended to be used by the front-end to determine which is the primary EKF
float faultScore(void) const; float faultScore(void) const;
// Return the last calculated NED position relative to the reference point (m).
// If a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control
bool getPosNED(Vector3f &pos) const;
// Return the last calculated NE position relative to the reference point (m). // Return the last calculated NE position relative to the reference point (m).
// If a calculated solution is not available, use the best available data and return false // If a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control // If false returned, do not use for flight control