From c8c6e05a4a38d4accabce0c7264364870af6e243 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 21 Apr 2014 17:10:27 +1000
Subject: [PATCH] AP_AHRS: added vehicle class to AHRS

used by EKF to control use of get_fly_forward()
---
 libraries/AP_AHRS/AP_AHRS.h        | 19 +++++++++++++++++++
 libraries/AP_AHRS/AP_AHRS_DCM.h    |  2 +-
 libraries/AP_AHRS/AP_AHRS_NavEKF.h |  2 +-
 3 files changed, 21 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index e1d3df518e..2a1f8ecf5d 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -33,11 +33,20 @@
 
 #define AP_AHRS_TRIM_LIMIT 10.0f        // maximum trim angle in degrees
 
+enum AHRS_VehicleClass {
+    AHRS_VEHICLE_UNKNOWN,
+    AHRS_VEHICLE_GROUND,
+    AHRS_VEHICLE_COPTER,
+    AHRS_VEHICLE_FIXED_WING,
+};
+
+
 class AP_AHRS
 {
 public:
     // Constructor
     AP_AHRS(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps) :
+        _vehicle_class(AHRS_VEHICLE_UNKNOWN),
         _compass(NULL),
         _ins(ins),
         _baro(baro),
@@ -87,6 +96,14 @@ public:
         return _flags.fly_forward;
     }
 
+    AHRS_VehicleClass get_vehicle_class(void) const {
+        return _vehicle_class;
+    }
+
+    void set_vehicle_class(AHRS_VehicleClass vclass) {
+        _vehicle_class = vclass;
+    }
+
     void set_wind_estimation(bool b) {
         _flags.wind_estimation = b;
     }
@@ -308,6 +325,8 @@ public:
     uint8_t get_active_accel_instance(void) const { return _active_accel_instance; }
 
 protected:
+    AHRS_VehicleClass _vehicle_class;
+
     // settable parameters
     AP_Float beta;
     AP_Int8 _gps_use;
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 0ca2da70f6..e8709f7997 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -26,7 +26,7 @@ class AP_AHRS_DCM : public AP_AHRS
 public:
     // Constructors
     AP_AHRS_DCM(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps) :
-        AP_AHRS(ins, baro, gps),
+    AP_AHRS(ins, baro, gps),
         _last_declination(0),
         _mag_earth(1,0)
     {
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 0829878e3a..20775fdc81 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -34,7 +34,7 @@ class AP_AHRS_NavEKF : public AP_AHRS_DCM
 public:
     // Constructor
     AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps) :
-        AP_AHRS_DCM(ins, baro, gps),
+    AP_AHRS_DCM(ins, baro, gps),
         EKF(this, baro),
         ekf_started(false),
         startup_delay_ms(10000)