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AP_NavEKF3: avoid initialising unused ring buffers 

this assumes the nav sources are treated as reboot required
This commit is contained in:
Andrew Tridgell 2020-11-27 09:37:45 +11:00
parent 4fdbbd8984
commit bb32f1a397
1 changed files with 10 additions and 9 deletions
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19
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -113,33 +113,34 @@ bool NavEKF3_core::setup_core(uint8_t _imu_index, uint8_t _core_index)
if(!storedBaro.init(obs_buffer_length)) {
return false;
}
if(!storedTAS.init(obs_buffer_length)) {
if(dal.airspeed() && !storedTAS.init(obs_buffer_length)) {
return false;
}
if (!storedOF.init(flow_buffer_length)) {
if(dal.opticalflow_enabled() && !storedOF.init(flow_buffer_length)) {
return false;
}
if(!storedBodyOdm.init(obs_buffer_length)) {
if(frontend->sources.ext_nav_enabled() && !storedBodyOdm.init(obs_buffer_length)) {
return false;
}
if(!storedWheelOdm.init(imu_buffer_length)) { // initialise to same length of IMU to allow for multiple wheel sensors
if(frontend->sources.wheel_encoder_enabled() && !storedWheelOdm.init(imu_buffer_length)) {
// initialise to same length of IMU to allow for multiple wheel sensors
return false;
}
if(!storedYawAng.init(yaw_angle_buffer_length)) {
if(frontend->sources.ext_yaw_enabled() && !storedYawAng.init(yaw_angle_buffer_length)) {
return false;
}
// Note: the use of dual range finders potentially doubles the amount of data to be stored
if(!storedRange.init(MIN(2*obs_buffer_length , imu_buffer_length))) {
if(dal.rangefinder() && !storedRange.init(MIN(2*obs_buffer_length , imu_buffer_length))) {
return false;
}
// Note: range beacon data is read one beacon at a time and can arrive at a high rate
if(!storedRangeBeacon.init(imu_buffer_length+1)) {
if(dal.beacon() && !storedRangeBeacon.init(imu_buffer_length+1)) {
return false;
}
if (!storedExtNav.init(extnav_buffer_length)) {
if (frontend->sources.ext_nav_enabled() && !storedExtNav.init(extnav_buffer_length)) {
return false;
}
if (!storedExtNavVel.init(extnav_buffer_length)) {
if (frontend->sources.ext_nav_enabled() && !storedExtNavVel.init(extnav_buffer_length)) {
return false;
}
if(!storedIMU.init(imu_buffer_length)) {