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AP_AHRS: remove separate calls to get delta-times for vel and ang

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This commit is contained in:
Peter Barker 2021-02-12 08:34:36 +11:00 committed by Peter Barker
parent eb702b0f82
commit ea1884f491
3 changed files with 6 additions and 9 deletions
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4
libraries/AP_AHRS/AP_AHRS.h
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@ -545,9 +545,7 @@ public:
// Retrieves the corrected NED delta velocity in use by the inertial navigation
virtual void getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const {
ret.zero();
const AP_InertialSensor &_ins = AP::ins();
_ins.get_delta_velocity(ret);
dt = _ins.get_delta_velocity_dt();
AP::ins().get_delta_velocity(ret, dt);
}
// create a view

7
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -150,7 +150,8 @@ AP_AHRS_DCM::matrix_update(float _G_Dt)
for (uint8_t i=0; i<_ins.get_gyro_count(); i++) {
if (_ins.use_gyro(i) && healthy_count < 2) {
Vector3f dangle;
if (_ins.get_delta_angle(i, dangle)) {
float dangle_dt;
if (_ins.get_delta_angle(i, dangle, dangle_dt)) {
healthy_count++;
delta_angle += dangle;
}
@ -652,8 +653,8 @@ AP_AHRS_DCM::drift_correction(float deltat)
each sensor, which prevents an aliasing effect
*/
Vector3f delta_velocity;
_ins.get_delta_velocity(i, delta_velocity);
const float delta_velocity_dt = _ins.get_delta_velocity_dt(i);
float delta_velocity_dt;
_ins.get_delta_velocity(i, delta_velocity, delta_velocity_dt);
if (delta_velocity_dt > 0) {
_accel_ef[i] = _dcm_matrix * (delta_velocity / delta_velocity_dt);
// integrate the accel vector in the earth frame between GPS readings

4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -2011,9 +2011,7 @@ void AP_AHRS_NavEKF::getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) cons
return;
}
ret.zero();
const AP_InertialSensor &_ins = AP::ins();
_ins.get_delta_velocity((uint8_t)imu_idx, ret);
dt = _ins.get_delta_velocity_dt((uint8_t)imu_idx);
AP::ins().get_delta_velocity((uint8_t)imu_idx, ret, dt);
ret -= accel_bias*dt;
ret = _dcm_matrix * get_rotation_autopilot_body_to_vehicle_body() * ret;
ret.z += GRAVITY_MSS*dt;