mirror of https://github.com/ArduPilot/ardupilot
AP_WindVane: make AHRS attitude member variables private
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1183328266
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c4dc0ae101
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@ -321,7 +321,7 @@ void AP_WindVane::update()
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}
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}
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} else {
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} else {
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// only have direction, can't do true wind calcs, set true direction to apparent + heading
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// only have direction, can't do true wind calcs, set true direction to apparent + heading
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_direction_true_raw = wrap_PI(_direction_apparent_raw + AP::ahrs().yaw);
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_direction_true_raw = wrap_PI(_direction_apparent_raw + AP::ahrs().get_yaw());
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_speed_true_raw = 0.0f;
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_speed_true_raw = 0.0f;
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}
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}
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@ -395,7 +395,7 @@ void AP_WindVane::update()
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void AP_WindVane::record_home_heading()
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void AP_WindVane::record_home_heading()
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{
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{
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_home_heading = AP::ahrs().yaw;
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_home_heading = AP::ahrs().get_yaw();
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}
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}
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// to start direction calibration from mavlink or other
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// to start direction calibration from mavlink or other
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@ -454,7 +454,7 @@ void AP_WindVane::update_true_wind_speed_and_direction()
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}
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}
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// convert apparent wind speed and direction to 2D vector in same frame as vehicle velocity
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// convert apparent wind speed and direction to 2D vector in same frame as vehicle velocity
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const float wind_dir_180 = _direction_apparent_raw + AP::ahrs().yaw + radians(180);
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const float wind_dir_180 = _direction_apparent_raw + AP::ahrs().get_yaw() + radians(180);
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const Vector2f wind_apparent_vec(cosf(wind_dir_180) * _speed_apparent, sinf(wind_dir_180) * _speed_apparent);
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const Vector2f wind_apparent_vec(cosf(wind_dir_180) * _speed_apparent, sinf(wind_dir_180) * _speed_apparent);
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// add vehicle velocity
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// add vehicle velocity
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@ -482,7 +482,7 @@ void AP_WindVane::update_apparent_wind_dir_from_true()
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Vector2f wind_apparent_vec = Vector2f(wind_true_vec.x - veh_velocity.x, wind_true_vec.y - veh_velocity.y);
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Vector2f wind_apparent_vec = Vector2f(wind_true_vec.x - veh_velocity.x, wind_true_vec.y - veh_velocity.y);
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// calculate apartment speed and direction
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// calculate apartment speed and direction
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_direction_apparent_raw = wrap_PI(atan2f(wind_apparent_vec.y, wind_apparent_vec.x) - radians(180) - AP::ahrs().yaw);
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_direction_apparent_raw = wrap_PI(atan2f(wind_apparent_vec.y, wind_apparent_vec.x) - radians(180) - AP::ahrs().get_yaw());
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_speed_apparent_raw = wind_apparent_vec.length();
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_speed_apparent_raw = wind_apparent_vec.length();
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}
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}
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@ -32,7 +32,7 @@ void AP_WindVane_Home::update_direction()
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}
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}
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}
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}
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_frontend._direction_apparent_raw = wrap_PI(direction_apparent_ef - AP::ahrs().yaw);
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_frontend._direction_apparent_raw = wrap_PI(direction_apparent_ef - AP::ahrs().get_yaw());
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}
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}
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#endif // AP_WINDVANE_HOME_ENABLED
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#endif // AP_WINDVANE_HOME_ENABLED
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@ -41,7 +41,7 @@ void AP_WindVane_SITL::update_direction()
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wind_vector_ef.x += AP::sitl()->state.speedN;
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wind_vector_ef.x += AP::sitl()->state.speedN;
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wind_vector_ef.y += AP::sitl()->state.speedE;
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wind_vector_ef.y += AP::sitl()->state.speedE;
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_frontend._direction_apparent_raw = wrap_PI(atan2f(wind_vector_ef.y, wind_vector_ef.x) - AP::ahrs().yaw);
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_frontend._direction_apparent_raw = wrap_PI(atan2f(wind_vector_ef.y, wind_vector_ef.x) - AP::ahrs().get_yaw());
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} else { // WINDVANE_SITL_APARRENT
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} else { // WINDVANE_SITL_APARRENT
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// directly read the body frame apparent wind set by physics backend
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// directly read the body frame apparent wind set by physics backend
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