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AP_AHRS: review fixes

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This commit is contained in:
Andrew Tridgell 2021-01-03 13:54:39 +11:00 committed by Peter Barker
parent 4e33b74d69
commit b73131cdbc
3 changed files with 6 additions and 6 deletions
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4
libraries/AP_AHRS/AP_AHRS.h
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@ -604,8 +604,8 @@ public:
return _rsem;
}
// active EKF type for logging
virtual uint8_t get_active_EKF_type(void) const { return 0; }
// active AHRS type for logging
virtual uint8_t get_active_AHRS_type(void) const { return 0; }
// for holding parameters
static const struct AP_Param::GroupInfo var_info[];

6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1161,10 +1161,10 @@ bool AP_AHRS_NavEKF::get_relative_position_NED_origin(Vector3f &vec) const
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
case EKFType::EXTERNAL: {
auto &serahrs = AP::externalAHRS();
auto &extahrs = AP::externalAHRS();
Location loc, orgn;
if (serahrs.get_origin(orgn) &&
serahrs.get_location(loc)) {
if (extahrs.get_origin(orgn) &&
extahrs.get_location(loc)) {
const Vector2f diff2d = orgn.get_distance_NE(loc);
vec = Vector3f(diff2d.x, diff2d.y,
-(loc.alt - orgn.alt)*0.01);

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -318,7 +318,7 @@ public:
void set_alt_measurement_noise(float noise) override;
// active EKF type for logging
uint8_t get_active_EKF_type(void) const override {
uint8_t get_active_AHRS_type(void) const override {
return uint8_t(active_EKF_type());
}