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AP_Airspeed: remove AP_Vehicle::FixedWing dependency

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This commit is contained in:
Tom Pittenger 2016-08-07 20:29:50 -07:00
parent f85fc7c1dc
commit ce7b766d8b
4 changed files with 7 additions and 11 deletions
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4
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -139,9 +139,9 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
}; };
AP_Airspeed::AP_Airspeed(const AP_Vehicle::FixedWing &parms) AP_Airspeed::AP_Airspeed()
: _EAS2TAS(1.0f) : _EAS2TAS(1.0f)
, _calibration(parms) , _calibration()
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
} }

5
libraries/AP_Airspeed/AP_Airspeed.h
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@ -16,7 +16,7 @@ class Airspeed_Calibration {
public: public:
friend class AP_Airspeed; friend class AP_Airspeed;
// constructor // constructor
Airspeed_Calibration(const AP_Vehicle::FixedWing &parms); Airspeed_Calibration();
// initialise the calibration // initialise the calibration
void init(float initial_ratio); void init(float initial_ratio);
@ -32,14 +32,13 @@ private:
const float Q1; // process noise matrix bottom right element const float Q1; // process noise matrix bottom right element
Vector3f state; // state vector Vector3f state; // state vector
const float DT; // time delta const float DT; // time delta
const AP_Vehicle::FixedWing &aparm;
}; };
class AP_Airspeed class AP_Airspeed
{ {
public: public:
// constructor // constructor
AP_Airspeed(const AP_Vehicle::FixedWing &parms); AP_Airspeed();
void init(void); void init(void);

5
libraries/AP_Airspeed/Airspeed_Calibration.cpp
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@ -15,7 +15,7 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
// constructor - fill in all the initial values // constructor - fill in all the initial values
Airspeed_Calibration::Airspeed_Calibration(const AP_Vehicle::FixedWing &parms) Airspeed_Calibration::Airspeed_Calibration()
: P(100, 0, 0, : P(100, 0, 0,
0, 100, 0, 0, 100, 0,
0, 0, 0.000001f) 0, 0, 0.000001f)
@ -23,7 +23,6 @@ Airspeed_Calibration::Airspeed_Calibration(const AP_Vehicle::FixedWing &parms)
, Q1(0.0000005f) , Q1(0.0000005f)
, state(0, 0, 0) , state(0, 0, 0)
, DT(1) , DT(1)
, aparm(parms)
{ {
} }
@ -70,7 +69,7 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg, int16_t m
-(state.z*SH2*(2*vg.y - 2*state.y))/2, -(state.z*SH2*(2*vg.y - 2*state.y))/2,
1/SH2); 1/SH2);
// Calculate the fusion innovaton covariance assuming a TAS measurement // Calculate the fusion innovation covariance assuming a TAS measurement
// noise of 1.0 m/s // noise of 1.0 m/s
// S = H_TAS*P*H_TAS' + 1.0; % [1 x 3] * [3 x 3] * [3 x 1] + [1 x 1] // S = H_TAS*P*H_TAS' + 1.0; % [1 x 3] * [3 x 3] * [3 x 1] + [1 x 1]
Vector3f PH = P * H_TAS; Vector3f PH = P * H_TAS;

4
libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp
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@ -25,11 +25,9 @@
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static AP_Vehicle::FixedWing aparm;
float temperature; float temperature;
AP_Airspeed airspeed(aparm); AP_Airspeed airspeed();
void setup() void setup()
{ {