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AP_AHRS: remove magic resetting of EKF type 1 to 2

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If EKF2 is not compiled in the current compatability code will not work
so well.

Throw the user over to the config error loop and they can fix it there.
This commit is contained in:
Peter Barker 2020-10-16 15:37:25 +11:00 committed by Andrew Tridgell
parent 565b29a72c
commit d4cb14b262
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -21,6 +21,7 @@
#include <AP_HAL/AP_HAL.h>
#include "AP_AHRS.h"
#include "AP_AHRS_View.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_Module/AP_Module.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_Baro/AP_Baro.h>
@ -50,6 +51,10 @@ AP_AHRS_NavEKF::AP_AHRS_NavEKF(uint8_t flags) :
// init sets up INS board orientation
void AP_AHRS_NavEKF::init()
{
// EKF1 is no longer supported - handle case where it is selected
if (_ekf_type.get() == 1) {
AP_BoardConfig::config_error("EKF1 not available");
}
#if !HAL_NAVEKF2_AVAILABLE && HAL_NAVEKF3_AVAILABLE
if (_ekf_type.get() == 2) {
_ekf_type.set(3);
@ -117,11 +122,6 @@ void AP_AHRS_NavEKF::update(bool skip_ins_update)
// drop back to normal priority if we were boosted by the INS
// calling delay_microseconds_boost()
hal.scheduler->boost_end();
// EKF1 is no longer supported - handle case where it is selected
if (_ekf_type == 1) {
_ekf_type.set(2);
}
update_DCM(skip_ins_update);