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AP_AHRS: add static create method

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This commit is contained in:
Lucas De Marchi 2017-08-30 00:59:36 -07:00 committed by Francisco Ferreira
parent c9fbf7b722
commit e2a9d9c001
1 changed files with 19 additions and 5 deletions
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24
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -36,17 +36,26 @@
#define AP_AHRS_NAVEKF_AVAILABLE 1
#define AP_AHRS_NAVEKF_SETTLE_TIME_MS 20000 // time in milliseconds the ekf needs to settle after being started
class AP_AHRS_NavEKF : public AP_AHRS_DCM
{
class AP_AHRS_NavEKF : public AP_AHRS_DCM {
public:
enum Flags {
FLAG_NONE = 0,
FLAG_ALWAYS_USE_EKF = 0x1,
};
// Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps,
NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE);
static AP_AHRS_NavEKF create(AP_InertialSensor &ins,
AP_Baro &baro,
AP_GPS &gps,
NavEKF2 &_EKF2, NavEKF3 &_EKF3,
Flags flags = FLAG_NONE) {
return AP_AHRS_NavEKF{ins, baro, gps, _EKF2, _EKF3, flags};
}
constexpr AP_AHRS_NavEKF(AP_AHRS_NavEKF &&other) = default;
/* Do not allow copies */
AP_AHRS_NavEKF(const AP_AHRS_NavEKF &other) = delete;
AP_AHRS_NavEKF &operator=(const AP_AHRS_NavEKF&) = delete;
// return the smoothed gyro vector corrected for drift
const Vector3f &get_gyro(void) const override;
@ -291,5 +300,10 @@ private:
uint32_t _last_body_odm_update_ms = 0;
void update_SITL(void);
#endif
private:
// Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps,
NavEKF2 &_EKF2, NavEKF3 &_EKF3, Flags flags = FLAG_NONE);
};
#endif