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AP_AHRS: force the use of EKF for Copter and Sub

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This commit is contained in:
Peter Barker 2019-11-26 14:48:07 +11:00 committed by Peter Barker
parent 19cea4d7b7
commit d3ede184cf
2 changed files with 7 additions and 3 deletions
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6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -37,12 +37,16 @@ extern const AP_HAL::HAL& hal;
// constructor // constructor
AP_AHRS_NavEKF::AP_AHRS_NavEKF(NavEKF2 &_EKF2, AP_AHRS_NavEKF::AP_AHRS_NavEKF(NavEKF2 &_EKF2,
NavEKF3 &_EKF3, NavEKF3 &_EKF3,
Flags flags) : uint8_t flags) :
AP_AHRS_DCM(), AP_AHRS_DCM(),
EKF2(_EKF2), EKF2(_EKF2),
EKF3(_EKF3), EKF3(_EKF3),
_ekf_flags(flags) _ekf_flags(flags)
{ {
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) || APM_BUILD_TYPE(APM_BUILD_ArduSub)
// Copter and Sub force the use of EKF
_ekf_flags |= AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF;
#endif
_dcm_matrix.identity(); _dcm_matrix.identity();
} }

4
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -45,7 +45,7 @@ public:
}; };
// Constructor // Constructor
AP_AHRS_NavEKF(NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE); AP_AHRS_NavEKF(NavEKF2 &_EKF2, NavEKF3 &_EKF3, uint8_t flags = FLAG_NONE);
/* Do not allow copies */ /* Do not allow copies */
AP_AHRS_NavEKF(const AP_AHRS_NavEKF &other) = delete; AP_AHRS_NavEKF(const AP_AHRS_NavEKF &other) = delete;
@ -301,7 +301,7 @@ private:
Vector3f _accel_ef_ekf_blended; Vector3f _accel_ef_ekf_blended;
const uint16_t startup_delay_ms = 1000; const uint16_t startup_delay_ms = 1000;
uint32_t start_time_ms = 0; uint32_t start_time_ms = 0;
Flags _ekf_flags; uint8_t _ekf_flags; // bitmask from Flags enumeration
uint8_t ekf_type(void) const; uint8_t ekf_type(void) const;
void update_DCM(bool skip_ins_update); void update_DCM(bool skip_ins_update);