Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_OpticalFlow: rename for AHRS restructuring

Browse Source
This commit is contained in:
Peter Barker 2021-07-20 22:16:31 +10:00 committed by Peter Barker
parent 48e9fa7ebd
commit ed5303d1b8
6 changed files with 10 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
View File

@ -98,7 +98,7 @@ void AP_OpticalFlow_CXOF::update(void)
// record gyro values as long as they are being used // record gyro values as long as they are being used
// the sanity check of dt below ensures old gyro values are not used // the sanity check of dt below ensures old gyro values are not used
if (gyro_sum_count < 1000) { if (gyro_sum_count < 1000) {
const Vector3f& gyro = AP::ahrs_navekf().get_gyro(); const Vector3f& gyro = AP::ahrs().get_gyro();
gyro_sum.x += gyro.x; gyro_sum.x += gyro.x;
gyro_sum.y += gyro.y; gyro_sum.y += gyro.y;
gyro_sum_count++; gyro_sum_count++;

2
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
View File

@ -285,7 +285,7 @@ void AP_OpticalFlow_Pixart::timer(void)
uint32_t dt_us = last_burst_us - integral.last_frame_us; uint32_t dt_us = last_burst_us - integral.last_frame_us;
float dt = dt_us * 1.0e-6; float dt = dt_us * 1.0e-6;
const Vector3f &gyro = AP::ahrs_navekf().get_gyro(); const Vector3f &gyro = AP::ahrs().get_gyro();
{ {
WITH_SEMAPHORE(_sem); WITH_SEMAPHORE(_sem);

2
libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp
View File

@ -100,7 +100,7 @@ void AP_OpticalFlow_UPFLOW::update(void)
gyro_sum.zero(); gyro_sum.zero();
gyro_sum_count = 0; gyro_sum_count = 0;
} }
const Vector3f& gyro = AP::ahrs_navekf().get_gyro(); const Vector3f& gyro = AP::ahrs().get_gyro();
gyro_sum.x += gyro.x; gyro_sum.x += gyro.x;
gyro_sum.y += gyro.y; gyro_sum.y += gyro.y;
gyro_sum_count++; gyro_sum_count++;

10
libraries/AP_OpticalFlow/OpticalFlow.cpp
View File

@ -203,11 +203,11 @@ void OpticalFlow::update_state(const OpticalFlow_state &state)
_last_update_ms = AP_HAL::millis(); _last_update_ms = AP_HAL::millis();
// write to log and send to EKF if new data has arrived // write to log and send to EKF if new data has arrived
AP::ahrs_navekf().writeOptFlowMeas(quality(), AP::ahrs().writeOptFlowMeas(quality(),
_state.flowRate, _state.flowRate,
_state.bodyRate, _state.bodyRate,
_last_update_ms, _last_update_ms,
get_pos_offset()); get_pos_offset());
Log_Write_Optflow(); Log_Write_Optflow();
} }

2
libraries/AP_OpticalFlow/OpticalFlow.h
View File

@ -30,7 +30,7 @@
#endif #endif
class OpticalFlow_backend; class OpticalFlow_backend;
class AP_AHRS_NavEKF; class AP_AHRS;
class OpticalFlow class OpticalFlow
{ {

2
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
View File

@ -27,7 +27,7 @@ public:
AP_InertialSensor ins; AP_InertialSensor ins;
AP_SerialManager serial_manager; AP_SerialManager serial_manager;
RangeFinder sonar; RangeFinder sonar;
AP_AHRS_NavEKF ahrs{AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF}; AP_AHRS ahrs{AP_AHRS::FLAG_ALWAYS_USE_EKF};
}; };
static DummyVehicle vehicle; static DummyVehicle vehicle;