AHRS: moved var_info[] into top level AP_AHRS class

libraries/AP_AHRS/AP_AHRS.cpp

@@ -0,0 +1,45 @@
+/*
+	APM_AHRS.cpp
+
+	This library is free software; you can redistribute it and/or
+	modify it under the terms of the GNU Lesser General Public License
+	as published by the Free Software Foundation; either version 2.1
+	of the License, or (at your option) any later version.
+*/
+#include <FastSerial.h>
+#include <AP_AHRS.h>
+
+
+// table of user settable parameters
+const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
+	// index 0 and 1 are for old parameters that are no longer used
+
+    // @Param: GPS_GAIN
+    // @DisplayName: AHRS GPS gain
+    // @Description: This controls how how much to use the GPS to correct the attitude
+    // @Range: 0.0 1.0
+    // @Increment: .01
+    AP_GROUPINFO("GPS_GAIN",  2, AP_AHRS, gps_gain, 1.0),
+
+    // @Param: GPS_USE
+    // @DisplayName: enable/disable use of GPS for position estimation
+    // @Description: This controls how how much to use the GPS to correct the attitude. This is for testing the dead-reckoning code
+    // @User: Advanced
+    AP_GROUPINFO("GPS_USE",  3, AP_AHRS, _gps_use, 1),
+
+    // @Param: YAW_P
+    // @DisplayName: Yaw P
+    // @Description: This controls the weight the compass has on the overall heading
+    // @Range: 0 .4
+    // @Increment: .01
+    AP_GROUPINFO("YAW_P", 4,    AP_AHRS, _kp_yaw, 0.4),
+
+    // @Param: RP_P
+    // @DisplayName: AHRS RP_P
+    // @Description: This controls how fast the accelerometers correct the attitude
+    // @Range: 0 .4
+    // @Increment: .01
+    AP_GROUPINFO("RP_P",  5,    AP_AHRS, _kp, 0.4),
+
+    AP_GROUPEND
+};

libraries/AP_AHRS/AP_AHRS.h

@@ -117,6 +117,15 @@ public:
 		_fast_ground_gains = setting;
 	}
 
+	// settable parameters
+	AP_Float	_kp_yaw;
+	AP_Float	_kp;
+	AP_Float	gps_gain;
+	AP_Int8		_gps_use;
+
+	// for holding parameters
+	static const struct AP_Param::GroupInfo var_info[];
+
 protected:
 	// whether the yaw value has been intialised with a reference
 	bool		_have_initial_yaw;

libraries/AP_AHRS/AP_AHRS_DCM.cpp

@@ -29,39 +29,6 @@
 // http://gentlenav.googlecode.com/files/fastRotations.pdf
 #define SPIN_RATE_LIMIT 20
 
-// table of user settable parameters
-const AP_Param::GroupInfo AP_AHRS_DCM::var_info[] PROGMEM = {
-	// index 0 and 1 are for old parameters that are no longer used
-
-    // @Param: GPS_GAIN
-    // @DisplayName: AHRS GPS gain
-    // @Description: This controls how how much to use the GPS to correct the attitude
-    // @Range: 0.0 1.0
-    // @Increment: .01
-    AP_GROUPINFO("GPS_GAIN",  2, AP_AHRS_DCM, gps_gain, 1.0),
-
-    // @Param: GPS_USE
-    // @DisplayName: enable/disable use of GPS for position estimation
-    // @Description: This controls how how much to use the GPS to correct the attitude. This is for testing the dead-reckoning code
-    // @User: Advanced
-    AP_GROUPINFO("GPS_USE",  3, AP_AHRS_DCM, _gps_use, 1),
-
-    // @Param: YAW_P
-    // @DisplayName: Yaw P
-    // @Description: This controls the weight the compass has on the overall heading
-    // @Range: 0 .4
-    // @Increment: .01
-    AP_GROUPINFO("YAW_P", 4, AP_AHRS_DCM, _kp_yaw, 0.4),
-
-    // @Param: RP_P
-    // @DisplayName: AHRS RP_P
-    // @Description: This controls how fast the accelerometers correct the attitude
-    // @Range: 0 .4
-    // @Increment: .01
-    AP_GROUPINFO("RP_P",  5, AP_AHRS_DCM, _kp, 0.4),
-
-    AP_GROUPEND
-};
 
 // run a full DCM update round
 void

libraries/AP_AHRS/AP_AHRS_DCM.h

@@ -22,9 +22,6 @@ public:
 		// with large drift levels
 		_ki = 0.0087;
 		_ki_yaw = 0.01;
-		_kp.set(0.4);
-		_kp_yaw.set(0.4);
-		gps_gain.set(1.0);
 	}
 
 	// return the smoothed gyro vector corrected for drift
@@ -45,11 +42,6 @@ public:
 	float		get_error_rp(void);
 	float		get_error_yaw(void);
 
-	// settable parameters
-	AP_Float	_kp_yaw;
-	AP_Float	_kp;
-	AP_Float	gps_gain;
-
 	// allow for runtime disabling of GPS usage for position
 	AP_Int8		_gps_use;
 
@@ -58,9 +50,6 @@ public:
 		return _wind;
 	}
 
-	// for holding parameters
-	static const struct AP_Param::GroupInfo var_info[];
-
 private:
 	float		_ki;
 	float		_ki_yaw;

libraries/AP_AHRS/AP_AHRS_HIL.h

@@ -32,11 +32,6 @@ public:
 	float get_error_rp(void) { return 0; }
 	float get_error_yaw(void) { return 0; }
 
-	// settable parameters
-	AP_Float	_kp;
-	AP_Float	_kp_yaw;
-	AP_Float	gps_gain;
-
 private:
 	Vector3f 	_omega;
 };

libraries/AP_AHRS/AP_AHRS_MPU6000.cpp

@@ -27,24 +27,6 @@
 // http://gentlenav.googlecode.com/files/fastRotations.pdf
 #define SPIN_RATE_LIMIT 20
 
-// table of user settable parameters
-const AP_Param::GroupInfo AP_AHRS_MPU6000::var_info[] PROGMEM = {
-    // @Param: AHRS_YAW_P
-    // @DisplayName: Yaw P
-    // @Description: This controls the weight the compass has on the overall heading
-    // @Range: 0 .4
-    // @Increment: .01
-    AP_GROUPINFO("YAW_P", 0, AP_AHRS_MPU6000, _kp_yaw, 0.4),
-
-    // @Param: AHRS_RP_P
-    // @DisplayName: AHRS RP_P
-    // @Description: This controls how fast the accelerometers correct the attitude
-    // @Range: 0 .4
-    // @Increment: .01
-    AP_GROUPINFO("RP_P",  1, AP_AHRS_MPU6000, _kp, 0.4),
-    AP_GROUPEND
-};
-
 void
 AP_AHRS_MPU6000::init()
 {

libraries/AP_AHRS/AP_AHRS_MPU6000.h

@@ -56,14 +56,6 @@ public:
 	float		get_error_rp(void);
 	float		get_error_yaw(void);
 
-	// settable parameters
-	AP_Float	_kp_yaw;
-	AP_Float	_kp;
-	AP_Float	gps_gain;	// not currently supported
-
-	// for holding parameters
-	static const struct AP_Param::GroupInfo var_info[];
-
 private:
 	float		_ki;
 	float		_ki_yaw;