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AP_NavEKF: fallback to no baro on boards that have no baro

This commit is contained in:
Andy Piper 2023-08-22 21:57:17 +01:00 committed by Andrew Tridgell
parent 5aa7bd0b7a
commit f7c86cc06a
2 changed files with 14 additions and 1 deletions
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13
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
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@ -17,6 +17,7 @@
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_DAL/AP_DAL.h> #include <AP_DAL/AP_DAL.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -231,6 +232,18 @@ AP_NavEKF_Source::SourceYaw AP_NavEKF_Source::getYawSource() const
return _source_set[active_source_set].yaw; return _source_set[active_source_set].yaw;
} }
// get pos Z source
AP_NavEKF_Source::SourceZ AP_NavEKF_Source::getPosZSource() const
{
#ifdef HAL_BARO_ALLOW_INIT_NO_BARO
// check for special case of missing baro
if ((_source_set[active_source_set].posz == SourceZ::BARO) && (AP::dal().baro().num_instances() == 0)) {
return SourceZ::NONE;
}
#endif
return _source_set[active_source_set].posz;
}
// align position of inactive sources to ahrs // align position of inactive sources to ahrs
void AP_NavEKF_Source::align_inactive_sources() void AP_NavEKF_Source::align_inactive_sources()
{ {

2
libraries/AP_NavEKF/AP_NavEKF_Source.h
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@ -55,7 +55,7 @@ public:
// get current position source // get current position source
SourceXY getPosXYSource() const { return _source_set[active_source_set].posxy; } SourceXY getPosXYSource() const { return _source_set[active_source_set].posxy; }
SourceZ getPosZSource() const { return _source_set[active_source_set].posz; } SourceZ getPosZSource() const;
// set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary // set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
void setPosVelYawSourceSet(uint8_t source_set_idx); void setPosVelYawSourceSet(uint8_t source_set_idx);