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AP_InertialNav: handle renaming of AP_InertialNav_NavEKF to AP_InertialNav

This commit is contained in:
Peter Barker 2021-10-19 13:15:00 +11:00 committed by Andrew Tridgell
parent 300628a570
commit cf9f060db8
2 changed files with 18 additions and 19 deletions
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16
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -1,6 +1,6 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Baro/AP_Baro.h>
#include "AP_InertialNav_NavEKF.h"
#include "AP_InertialNav.h"
/*
A wrapper around the AP_InertialNav class which uses the NavEKF
@ -11,7 +11,7 @@
/**
update internal state
*/
void AP_InertialNav_NavEKF::update(bool high_vibes)
void AP_InertialNav::update(bool high_vibes)
{
// get the NE position relative to the local earth frame origin
Vector2f posNE;
@ -44,7 +44,7 @@ void AP_InertialNav_NavEKF::update(bool high_vibes)
/**
* get_filter_status : returns filter status as a series of flags
*/
nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
nav_filter_status AP_InertialNav::get_filter_status() const
{
nav_filter_status status;
_ahrs_ekf.get_filter_status(status);
@ -56,7 +56,7 @@ nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
*
* @return
*/
const Vector3f &AP_InertialNav_NavEKF::get_position(void) const
const Vector3f &AP_InertialNav::get_position(void) const
{
return _relpos_cm;
}
@ -69,7 +69,7 @@ const Vector3f &AP_InertialNav_NavEKF::get_position(void) const
* .y : longitude velocity in cm/s
* .z : vertical velocity in cm/s
*/
const Vector3f &AP_InertialNav_NavEKF::get_velocity() const
const Vector3f &AP_InertialNav::get_velocity() const
{
return _velocity_cm;
}
@ -79,7 +79,7 @@ const Vector3f &AP_InertialNav_NavEKF::get_velocity() const
*
* @returns the current horizontal speed in cm/s
*/
float AP_InertialNav_NavEKF::get_speed_xy() const
float AP_InertialNav::get_speed_xy() const
{
return _velocity_cm.xy().length();
}
@ -88,7 +88,7 @@ float AP_InertialNav_NavEKF::get_speed_xy() const
* get_altitude - get latest altitude estimate in cm
* @return
*/
float AP_InertialNav_NavEKF::get_altitude() const
float AP_InertialNav::get_altitude() const
{
return _relpos_cm.z;
}
@ -100,7 +100,7 @@ float AP_InertialNav_NavEKF::get_altitude() const
*
* @return climbrate in cm/s
*/
float AP_InertialNav_NavEKF::get_velocity_z() const
float AP_InertialNav::get_velocity_z() const
{
return _velocity_cm.z;
}

21
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -5,27 +5,26 @@
*/
#pragma once
#include <AP_AHRS/AP_AHRS.h>
#include <AP_NavEKF/AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
#include "AP_InertialNav.h"
class AP_InertialNav_NavEKF : public AP_InertialNav
class AP_InertialNav
{
public:
// Constructor
AP_InertialNav_NavEKF(AP_AHRS &ahrs) :
AP_InertialNav(),
AP_InertialNav(AP_AHRS &ahrs) :
_ahrs_ekf(ahrs)
{}
/**
update internal state
*/
void update(bool high_vibes = false) override;
void update(bool high_vibes = false);
/**
* get_filter_status - returns filter status as a series of flags
*/
nav_filter_status get_filter_status() const override;
nav_filter_status get_filter_status() const;
/**
* get_position - returns the current position relative to the home location in cm.
@ -34,7 +33,7 @@ public:
*
* @return
*/
const Vector3f& get_position() const override;
const Vector3f& get_position() const;
/**
* get_velocity - returns the current velocity in cm/s
@ -44,20 +43,20 @@ public:
* .y : longitude velocity in cm/s
* .z : vertical velocity in cm/s
*/
const Vector3f& get_velocity() const override;
const Vector3f& get_velocity() const;
/**
* get_speed_xy - returns the current horizontal speed in cm/s
*
* @returns the current horizontal speed in cm/s
*/
float get_speed_xy() const override;
float get_speed_xy() const;
/**
* get_altitude - get latest altitude estimate in cm
* @return
*/
float get_altitude() const override;
float get_altitude() const;
/**
* get_velocity_z - returns the current climbrate.
@ -66,7 +65,7 @@ public:
*
* @return climbrate in cm/s
*/
float get_velocity_z() const override;
float get_velocity_z() const;
private:
Vector3f _relpos_cm; // NEU