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AP_NavEKF2: automatically cut back EK2_IMU_MASK to suit number of IMUs

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This commit is contained in:
Andrew Tridgell 2016-01-05 16:40:43 +11:00
parent cc25575b3a
commit c34626ec4e
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -120,7 +120,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Description: This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect. // @Description: This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.
// @Values: 0:Disabled, 1:Enabled // @Values: 0:Disabled, 1:Enabled
// @User: Advanced // @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 0, NavEKF2, _enable, 0, AP_PARAM_FLAG_ENABLE), AP_GROUPINFO_FLAGS("ENABLE", 0, NavEKF2, _enable, 1, AP_PARAM_FLAG_ENABLE),
// GPS measurement parameters // GPS measurement parameters
@ -409,7 +409,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Description: 1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start. // @Description: 1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.
// @Range: 1 127 // @Range: 1 127
// @User: Advanced // @User: Advanced
AP_GROUPINFO("IMU_MASK", 33, NavEKF2, _imuMask, 1), AP_GROUPINFO("IMU_MASK", 33, NavEKF2, _imuMask, 3),
// @Param: CHECK_SCALE // @Param: CHECK_SCALE
// @DisplayName: GPS accuracy check scaler (%) // @DisplayName: GPS accuracy check scaler (%)
@ -465,6 +465,11 @@ bool NavEKF2::InitialiseFilter(void)
} }
if (core == nullptr) { if (core == nullptr) {
// don't run multiple filters for 1 IMU
const AP_InertialSensor &ins = _ahrs->get_ins();
uint8_t mask = (1U<<ins.get_accel_count())-1;
_imuMask.set(_imuMask.get() & mask);
// count IMUs from mask // count IMUs from mask
num_cores = 0; num_cores = 0;
for (uint8_t i=0; i<7; i++) { for (uint8_t i=0; i<7; i++) {