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AP_AHRS: rename is_ext_nav_used_for_yaw to using_noncompass_for_yaw

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Randy Mackay 2021-08-18 16:34:37 +09:00 committed by Andrew Tridgell
parent 0edfd2634f
commit e7be608a4a
3 changed files with 10 additions and 10 deletions
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12
libraries/AP_AHRS/AP_AHRS.cpp
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@ -2314,11 +2314,11 @@ bool AP_AHRS::attitudes_consistent(char *failure_msg, const uint8_t failure_msg_
// Check vs DCM yaw if this vehicle could use DCM in flight // Check vs DCM yaw if this vehicle could use DCM in flight
// and if not using an external yaw source (DCM does not support external yaw sources) // and if not using an external yaw source (DCM does not support external yaw sources)
bool using_external_yaw = false; bool using_noncompass_for_yaw = false;
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
using_external_yaw = ekf_type() == EKFType::THREE && EKF3.using_external_yaw(); using_noncompass_for_yaw = (ekf_type() == EKFType::THREE) && EKF3.using_noncompass_for_yaw();
#endif #endif
if (!always_use_EKF() && !using_external_yaw) { if (!always_use_EKF() && !using_noncompass_for_yaw) {
Vector3f angle_diff; Vector3f angle_diff;
primary_quat.angular_difference(dcm_quat).to_axis_angle(angle_diff); primary_quat.angular_difference(dcm_quat).to_axis_angle(angle_diff);
const float yaw_diff = fabsf(angle_diff.z); const float yaw_diff = fabsf(angle_diff.z);
@ -3022,8 +3022,8 @@ void AP_AHRS::Log_Write()
#endif #endif
} }
// check whether compass can be bypassed for arming check in case when external navigation data is available // check if non-compass sensor is providing yaw. Allows compass pre-arm checks to be bypassed
bool AP_AHRS::is_ext_nav_used_for_yaw(void) const bool AP_AHRS::using_noncompass_for_yaw(void) const
{ {
switch (active_EKF_type()) { switch (active_EKF_type()) {
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
@ -3033,7 +3033,7 @@ bool AP_AHRS::is_ext_nav_used_for_yaw(void) const
case EKFType::NONE: case EKFType::NONE:
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE: case EKFType::THREE:
return EKF3.using_external_yaw(); return EKF3.using_noncompass_for_yaw();
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKFType::SIM: case EKFType::SIM:

4
libraries/AP_AHRS/AP_AHRS.h
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@ -326,8 +326,8 @@ public:
void Log_Write(); void Log_Write();
// check whether external navigation is providing yaw. Allows compass pre-arm checks to be bypassed // check if non-compass sensor is providing yaw. Allows compass pre-arm checks to be bypassed
bool is_ext_nav_used_for_yaw(void) const override; bool using_noncompass_for_yaw(void) const override;
// set and save the ALT_M_NSE parameter value // set and save the ALT_M_NSE parameter value
void set_alt_measurement_noise(float noise) override; void set_alt_measurement_noise(float noise) override;

4
libraries/AP_AHRS/AP_AHRS_Backend.h
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@ -90,8 +90,8 @@ public:
// see if EKF lane switching is possible to avoid EKF failsafe // see if EKF lane switching is possible to avoid EKF failsafe
virtual void check_lane_switch(void) {} virtual void check_lane_switch(void) {}
// check whether external navigation is providing yaw. Allows compass pre-arm checks to be bypassed // check if non-compass sensor is providing yaw. Allows compass pre-arm checks to be bypassed
virtual bool is_ext_nav_used_for_yaw(void) const { return false; } virtual bool using_noncompass_for_yaw(void) const { return false; }
// request EKF yaw reset to try and avoid the need for an EKF lane switch or failsafe // request EKF yaw reset to try and avoid the need for an EKF lane switch or failsafe
virtual void request_yaw_reset(void) {} virtual void request_yaw_reset(void) {}