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AP_AHRS: added get_correct_centrifugal()

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used by NavEKF to force static mode
This commit is contained in:
Andrew Tridgell 2014-02-19 10:28:14 +11:00
parent 599c3a8abf
commit fad0b2b233
3 changed files with 6 additions and 9 deletions
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7
libraries/AP_AHRS/AP_AHRS.h
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@ -234,10 +234,15 @@ public:
// set the correct centrifugal flag
// allows arducopter to disable corrections when disarmed
virtual void set_correct_centrifugal(bool setting) {
void set_correct_centrifugal(bool setting) {
_flags.correct_centrifugal = setting;
}
// get the correct centrifugal flag
bool get_correct_centrifugal(void) const {
return _flags.correct_centrifugal;
}
// get trim
const Vector3f &get_trim() const { return _trim.get(); }

6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -90,12 +90,6 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
}
}
void AP_AHRS_NavEKF::set_correct_centrifugal(bool setting)
{
AP_AHRS_DCM::set_correct_centrifugal(setting);
EKF.SetStaticMode(!setting);
}
// reset the current attitude, used on new IMU calibration
void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
{

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -52,8 +52,6 @@ public:
void update(void);
void reset(bool recover_eulers = false);
void set_correct_centrifugal(bool setting);
// reset the current attitude, used on new IMU calibration
void reset_attitude(const float &roll, const float &pitch, const float &yaw);