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AP_AHRS: remove instance id from EK3 external interface 

Removes passing of instance id in interfaces where -1 was the only value
ever passed in
This commit is contained in:
Peter Barker 2022-04-05 13:33:32 +10:00 committed by Andrew Tridgell
parent c2112565b5
commit b762aac6ce
1 changed files with 25 additions and 25 deletions
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50
libraries/AP_AHRS/AP_AHRS.cpp
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@ -569,7 +569,7 @@ void AP_AHRS::update_EKF3(void)
if (active_EKF_type() == EKFType::THREE) {
Vector3f eulers;
EKF3.getRotationBodyToNED(_dcm_matrix);
EKF3.getEulerAngles(-1,eulers);
EKF3.getEulerAngles(eulers);
roll = eulers.x;
pitch = eulers.y;
yaw = eulers.z;
@ -615,7 +615,7 @@ void AP_AHRS::update_EKF3(void)
}
_accel_ef_ekf_blended = _accel_ef_ekf[_ins.get_primary_accel()];
nav_filter_status filt_state;
EKF3.getFilterStatus(-1,filt_state);
EKF3.getFilterStatus(filt_state);
update_notify_from_filter_status(filt_state);
}
}
@ -828,7 +828,7 @@ Vector3f AP_AHRS::wind_estimate(void) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
EKF3.getWind(-1,wind);
EKF3.getWind(wind);
break;
#endif
@ -918,7 +918,7 @@ bool AP_AHRS::airspeed_estimate(float &airspeed_ret) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
ret = EKF3.getWind(-1,wind_vel);
ret = EKF3.getWind(wind_vel);
break;
#endif
@ -992,7 +992,7 @@ bool AP_AHRS::airspeed_vector_true(Vector3f &vec) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return EKF3.getAirSpdVec(-1, vec);
return EKF3.getAirSpdVec(vec);
#endif
#if AP_AHRS_SIM_ENABLED
@ -1071,7 +1071,7 @@ bool AP_AHRS::get_quaternion(Quaternion &quat) const
if (!_ekf3_started) {
return false;
}
EKF3.getQuaternion(-1, quat);
EKF3.getQuaternion(quat);
break;
#endif
#if AP_AHRS_SIM_ENABLED
@ -1123,7 +1123,7 @@ bool AP_AHRS::get_secondary_attitude(Vector3f &eulers) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// EKF3 is secondary
EKF3.getEulerAngles(-1, eulers);
EKF3.getEulerAngles(eulers);
return _ekf3_started;
#endif
@ -1184,7 +1184,7 @@ bool AP_AHRS::get_secondary_quaternion(Quaternion &quat) const
if (!_ekf3_started) {
return false;
}
EKF3.getQuaternion(-1, quat);
EKF3.getQuaternion(quat);
break;
#endif
@ -1269,7 +1269,7 @@ Vector2f AP_AHRS::groundspeed_vector(void)
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
EKF3.getVelNED(-1,vec);
EKF3.getVelNED(vec);
return Vector2f(vec.x, vec.y);
#endif
@ -1382,7 +1382,7 @@ bool AP_AHRS::get_velocity_NED(Vector3f &vec) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
EKF3.getVelNED(-1,vec);
EKF3.getVelNED(vec);
return true;
#endif
@ -1419,7 +1419,7 @@ bool AP_AHRS::get_mag_field_NED(Vector3f &vec) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
EKF3.getMagNED(-1,vec);
EKF3.getMagNED(vec);
return true;
#endif
@ -1450,7 +1450,7 @@ bool AP_AHRS::get_mag_field_correction(Vector3f &vec) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
EKF3.getMagXYZ(-1,vec);
EKF3.getMagXYZ(vec);
return true;
#endif
@ -1483,7 +1483,7 @@ bool AP_AHRS::get_vert_pos_rate(float &velocity) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
velocity = EKF3.getPosDownDerivative(-1);
velocity = EKF3.getPosDownDerivative();
return true;
#endif
@ -1570,7 +1570,7 @@ bool AP_AHRS::get_relative_position_NED_origin(Vector3f &vec) const
case EKFType::THREE: {
Vector2f posNE;
float posD;
if (EKF3.getPosNE(-1,posNE) && EKF3.getPosD(-1,posD)) {
if (EKF3.getPosNE(posNE) && EKF3.getPosD(posD)) {
// position is valid
vec.x = posNE.x;
vec.y = posNE.y;
@ -1653,7 +1653,7 @@ bool AP_AHRS::get_relative_position_NE_origin(Vector2f &posNE) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: {
bool position_is_valid = EKF3.getPosNE(-1,posNE);
bool position_is_valid = EKF3.getPosNE(posNE);
return position_is_valid;
}
#endif
@ -1723,7 +1723,7 @@ bool AP_AHRS::get_relative_position_D_origin(float &posD) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: {
bool position_is_valid = EKF3.getPosD(-1,posD);
bool position_is_valid = EKF3.getPosD(posD);
return position_is_valid;
}
#endif
@ -1860,7 +1860,7 @@ AP_AHRS::EKFType AP_AHRS::active_EKF_type(void) const
}
if (always_use_EKF()) {
uint16_t ekf3_faults;
EKF3.getFilterFaults(-1,ekf3_faults);
EKF3.getFilterFaults(ekf3_faults);
if (ekf3_faults == 0) {
ret = EKFType::THREE;
}
@ -1903,7 +1903,7 @@ AP_AHRS::EKFType AP_AHRS::active_EKF_type(void) const
#endif
#if HAL_NAVEKF3_AVAILABLE
if (ret == EKFType::THREE) {
EKF3.getFilterStatus(-1,filt_state);
EKF3.getFilterStatus(filt_state);
should_use_gps = EKF3.configuredToUseGPSForPosXY();
}
#endif
@ -2161,7 +2161,7 @@ bool AP_AHRS::get_filter_status(nav_filter_status &status) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
EKF3.getFilterStatus(-1,status);
EKF3.getFilterStatus(status);
return true;
#endif
@ -2711,7 +2711,7 @@ bool AP_AHRS::get_origin(Location &ret) const
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
if (!EKF3.getOriginLLH(-1,ret)) {
if (!EKF3.getOriginLLH(ret)) {
return false;
}
return true;
@ -2817,7 +2817,7 @@ bool AP_AHRS::get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// use EKF to get innovations
return EKF3.getInnovations(-1, velInnov, posInnov, magInnov, tasInnov, yawInnov);
return EKF3.getInnovations(velInnov, posInnov, magInnov, tasInnov, yawInnov);
#endif
#if AP_AHRS_SIM_ENABLED
@ -2845,7 +2845,7 @@ bool AP_AHRS::is_vibration_affected() const
switch (ekf_type()) {
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return EKF3.isVibrationAffected(-1);
return EKF3.isVibrationAffected();
#endif
case EKFType::NONE:
#if HAL_NAVEKF2_AVAILABLE
@ -2885,7 +2885,7 @@ bool AP_AHRS::get_variances(float &velVar, float &posVar, float &hgtVar, Vector3
case EKFType::THREE: {
// use EKF to get variance
Vector2f offset;
return EKF3.getVariances(-1, velVar, posVar, hgtVar, magVar, tasVar, offset);
return EKF3.getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
}
#endif
@ -2926,7 +2926,7 @@ bool AP_AHRS::get_vel_innovations_and_variances_for_source(uint8_t source, Vecto
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
// use EKF to get variance
return EKF3.getVelInnovationsAndVariancesForSource(-1, (AP_NavEKF_Source::SourceXY)source, innovations, variances);
return EKF3.getVelInnovationsAndVariancesForSource((AP_NavEKF_Source::SourceXY)source, innovations, variances);
#endif
#if AP_AHRS_SIM_ENABLED
@ -2956,7 +2956,7 @@ uint8_t AP_AHRS::get_active_airspeed_index() const
// we only have affinity for EKF3 as of now
#if HAL_NAVEKF3_AVAILABLE
if (active_EKF_type() == EKFType::THREE) {
uint8_t ret = EKF3.getActiveAirspeed(get_primary_core_index());
uint8_t ret = EKF3.getActiveAirspeed();
if (ret != 255 && airspeed->healthy(ret)) {
return ret;
}