mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF: add setOrigin
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@ -997,7 +997,7 @@ bool NavEKF2::getOriginLLH(struct Location &loc) const
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// All NED positions calculated by the filter will be relative to this location
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// All NED positions calculated by the filter will be relative to this location
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// Returns false if the filter has rejected the attempt to set the origin
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// Returns false if the filter has rejected the attempt to set the origin
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bool NavEKF2::setOriginLLH(struct Location &loc)
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bool NavEKF2::setOriginLLH(const Location &loc)
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{
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{
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if (!core) {
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if (!core) {
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return false;
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return false;
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@ -165,7 +165,7 @@ public:
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// All NED positions calcualted by the filter will be relative to this location
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// All NED positions calcualted by the filter will be relative to this location
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// Returns false if the filter has rejected the attempt to set the origin
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// Returns false if the filter has rejected the attempt to set the origin
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bool setOriginLLH(struct Location &loc);
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bool setOriginLLH(const Location &loc);
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// return estimated height above ground level
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// return estimated height above ground level
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// return false if ground height is not being estimated.
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// return false if ground height is not being estimated.
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@ -403,7 +403,7 @@ bool NavEKF2_core::assume_zero_sideslip(void) const
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}
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}
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// set the LLH location of the filters NED origin
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// set the LLH location of the filters NED origin
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bool NavEKF2_core::setOriginLLH(struct Location &loc)
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bool NavEKF2_core::setOriginLLH(const Location &loc)
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{
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{
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if (PV_AidingMode == AID_ABSOLUTE) {
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if (PV_AidingMode == AID_ABSOLUTE) {
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return false;
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return false;
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@ -159,7 +159,7 @@ public:
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// All NED positions calcualted by the filter will be relative to this location
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// All NED positions calcualted by the filter will be relative to this location
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// Returns false if the filter has rejected the attempt to set the origin
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// Returns false if the filter has rejected the attempt to set the origin
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bool setOriginLLH(struct Location &loc);
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bool setOriginLLH(const Location &loc);
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// return estimated height above ground level
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// return estimated height above ground level
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// return false if ground height is not being estimated.
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// return false if ground height is not being estimated.
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@ -1001,7 +1001,7 @@ bool NavEKF3::getOriginLLH(struct Location &loc) const
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// All NED positions calculated by the filter will be relative to this location
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// All NED positions calculated by the filter will be relative to this location
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// Returns false if the filter has rejected the attempt to set the origin
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// Returns false if the filter has rejected the attempt to set the origin
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bool NavEKF3::setOriginLLH(struct Location &loc)
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bool NavEKF3::setOriginLLH(const Location &loc)
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{
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{
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if (!core) {
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if (!core) {
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return false;
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return false;
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@ -156,7 +156,7 @@ public:
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// All NED positions calcualted by the filter will be relative to this location
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// All NED positions calcualted by the filter will be relative to this location
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// Returns false if the filter has rejected the attempt to set the origin
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// Returns false if the filter has rejected the attempt to set the origin
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bool setOriginLLH(struct Location &loc);
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bool setOriginLLH(const Location &loc);
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// return estimated height above ground level
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// return estimated height above ground level
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// return false if ground height is not being estimated.
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// return false if ground height is not being estimated.
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@ -431,7 +431,7 @@ bool NavEKF3_core::assume_zero_sideslip(void) const
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}
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}
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// set the LLH location of the filters NED origin
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// set the LLH location of the filters NED origin
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bool NavEKF3_core::setOriginLLH(struct Location &loc)
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bool NavEKF3_core::setOriginLLH(const Location &loc)
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{
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{
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if (PV_AidingMode == AID_ABSOLUTE) {
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if (PV_AidingMode == AID_ABSOLUTE) {
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return false;
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return false;
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@ -165,7 +165,7 @@ public:
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// All NED positions calcualted by the filter will be relative to this location
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// All NED positions calcualted by the filter will be relative to this location
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// Returns false if the filter has rejected the attempt to set the origin
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// Returns false if the filter has rejected the attempt to set the origin
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bool setOriginLLH(struct Location &loc);
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bool setOriginLLH(const Location &loc);
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// return estimated height above ground level
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// return estimated height above ground level
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// return false if ground height is not being estimated.
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// return false if ground height is not being estimated.
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