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AP_DAL: stop using AHRS as conduit for Compass pointer

This commit is contained in:
Peter Barker 2021-07-26 10:32:11 +10:00 committed by Peter Barker
parent 1d9bfdf8dd
commit b5b4ec94c9
3 changed files with 1 additions and 21 deletions
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10
libraries/AP_DAL/AP_DAL.cpp
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@ -58,7 +58,6 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
_RFRN.lat = _home.lat; _RFRN.lat = _home.lat;
_RFRN.lng = _home.lng; _RFRN.lng = _home.lng;
_RFRN.alt = _home.alt; _RFRN.alt = _home.alt;
_RFRN.get_compass_is_null = AP::ahrs().get_compass() == nullptr;
_RFRN.EAS2TAS = AP::baro().get_EAS2TAS(); _RFRN.EAS2TAS = AP::baro().get_EAS2TAS();
_RFRN.vehicle_class = ahrs.get_vehicle_class(); _RFRN.vehicle_class = ahrs.get_vehicle_class();
_RFRN.fly_forward = ahrs.get_fly_forward(); _RFRN.fly_forward = ahrs.get_fly_forward();
@ -257,15 +256,6 @@ void *AP_DAL::malloc_type(size_t size, Memory_Type mem_type) const
return hal.util->malloc_type(size, AP_HAL::Util::Memory_Type(mem_type)); return hal.util->malloc_type(size, AP_HAL::Util::Memory_Type(mem_type));
} }
const AP_DAL_Compass *AP_DAL::get_compass() const
{
if (_RFRN.get_compass_is_null) {
return nullptr;
}
return &_compass;
}
// map core number for replay // map core number for replay
uint8_t AP_DAL::logging_core(uint8_t c) const uint8_t AP_DAL::logging_core(uint8_t c) const
{ {

10
libraries/AP_DAL/AP_DAL.h
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@ -141,18 +141,8 @@ public:
} }
#endif #endif
// this method *always* returns you the compass. This is in
// constrast to get_compass, which only returns the compass once
// the vehicle deigns to permit its use by the EKF.
AP_DAL_Compass &compass() { return _compass; } AP_DAL_Compass &compass() { return _compass; }
// this call replaces AP::ahrs()->get_compass(), whose return
// result can be varied by the vehicle (typically by setting when
// first reading is received). This is explicitly not
// "AP_DAL_Compass &compass() { return _compass; } - but it should
// change to be that.
const AP_DAL_Compass *get_compass() const;
// random methods that AP_NavEKF3 wants to call on AHRS: // random methods that AP_NavEKF3 wants to call on AHRS:
bool airspeed_sensor_enabled(void) const { bool airspeed_sensor_enabled(void) const {
return _RFRN.ahrs_airspeed_sensor_enabled; return _RFRN.ahrs_airspeed_sensor_enabled;

2
libraries/AP_DAL/LogStructure.h
View File

@ -62,7 +62,7 @@ struct log_RFRN {
uint8_t vehicle_class; uint8_t vehicle_class;
uint8_t ekf_type; uint8_t ekf_type;
uint8_t armed:1; uint8_t armed:1;
uint8_t get_compass_is_null:1; uint8_t unused:1; // was get_compass_is_null
uint8_t fly_forward:1; uint8_t fly_forward:1;
uint8_t ahrs_airspeed_sensor_enabled:1; uint8_t ahrs_airspeed_sensor_enabled:1;
uint8_t opticalflow_enabled:1; uint8_t opticalflow_enabled:1;