Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Replay: EKF objects have moved into AP_AHRS_NavEKF

This commit is contained in:
Peter Barker 2019-12-10 22:01:38 +11:00 committed by Andrew Tridgell
parent b30004c0a2
commit d95956a587
2 changed files with 17 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
Tools/Replay/Replay.cpp
View File

@ -69,7 +69,7 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
@ -81,7 +81,7 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
AP_VAREND
};
@ -119,8 +119,8 @@ void ReplayVehicle::setup(void)
ahrs.set_correct_centrifugal(true);
ahrs.set_ekf_use(true);
EKF2.set_enable(true);
EKF3.set_enable(true);
ahrs.EKF2.set_enable(true);
ahrs.EKF3.set_enable(true);
printf("Starting disarmed\n");
hal.util->set_soft_armed(false);
@ -731,9 +731,9 @@ void Replay::log_check_generate(void)
Vector3f velocity;
Location loc {};
_vehicle.EKF2.getEulerAngles(-1,euler);
_vehicle.EKF2.getVelNED(-1,velocity);
_vehicle.EKF2.getLLH(loc);
_vehicle.ahrs.EKF2.getEulerAngles(-1,euler);
_vehicle.ahrs.EKF2.getVelNED(-1,velocity);
_vehicle.ahrs.EKF2.getLLH(loc);
_vehicle.logger.Write(
"CHEK",
@ -765,9 +765,9 @@ void Replay::log_check_solution(void)
Vector3f velocity;
Location loc {};
_vehicle.EKF2.getEulerAngles(-1,euler);
_vehicle.EKF2.getVelNED(-1,velocity);
_vehicle.EKF2.getLLH(loc);
_vehicle.ahrs.EKF2.getEulerAngles(-1,euler);
_vehicle.ahrs.EKF2.getVelNED(-1,velocity);
_vehicle.ahrs.EKF2.getLLH(loc);
float roll_error = degrees(fabsf(euler.x - check_state.euler.x));
float pitch_error = degrees(fabsf(euler.y - check_state.euler.y));

7
Tools/Replay/Replay.h
View File

@ -62,6 +62,13 @@ public:
virtual bool set_mode(const uint8_t new_mode, const ModeReason reason) override { return true; }
virtual uint8_t get_mode() const override { return 0; }
AP_InertialSensor ins;
AP_Baro barometer;
AP_GPS gps;
Compass compass;
AP_SerialManager serial_manager;
RangeFinder rng;
AP_AHRS_NavEKF ahrs;
AP_Vehicle::FixedWing aparm;
AP_Airspeed airspeed;
AP_Int32 unused; // logging is magic for Replay; this is unused