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AP_NavEKF_Source: add ExtNav yaw source

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Randy Mackay 2020-11-30 21:32:01 +09:00 committed by Andrew Tridgell
parent 1f7d796845
commit fca8eb0778
2 changed files with 8 additions and 4 deletions
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9
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
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@ -52,7 +52,7 @@ const AP_Param::GroupInfo AP_NavEKF_Source::var_info[] = {
// @Param: 1_YAW
// @DisplayName: Yaw Source
// @Description: Yaw Source
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav
// @User: Advanced
AP_GROUPINFO("1_YAW", 5, AP_NavEKF_Source, _source_set[0].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::COMPASS),
@ -88,7 +88,7 @@ const AP_Param::GroupInfo AP_NavEKF_Source::var_info[] = {
// @Param: 2_YAW
// @DisplayName: Yaw Source (Secondary)
// @Description: Yaw Source (Secondary)
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav
// @User: Advanced
AP_GROUPINFO("2_YAW", 10, AP_NavEKF_Source, _source_set[1].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::NONE),
#endif
@ -125,7 +125,7 @@ const AP_Param::GroupInfo AP_NavEKF_Source::var_info[] = {
// @Param: 3_YAW
// @DisplayName: Yaw Source (Tertiary)
// @Description: Yaw Source (Tertiary)
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback
// @Values: 0:None, 1:Compass, 2:External, 3:External with Compass Fallback, 6:ExternalNav
// @User: Advanced
AP_GROUPINFO("3_YAW", 15, AP_NavEKF_Source, _source_set[2].yaw, (int8_t)AP_NavEKF_Source::SourceYaw::NONE),
#endif
@ -412,6 +412,9 @@ bool AP_NavEKF_Source::pre_arm_check(char *failure_msg, uint8_t failure_msg_len)
case SourceYaw::EXTERNAL_COMPASS_FALLBACK:
compass_required = true;
break;
case SourceYaw::EXTNAV:
visualodom_required = true;
break;
default:
// invalid yaw value
hal.util->snprintf(failure_msg, failure_msg_len, "Check EK3_SRC%d_YAW", (int)i+1);

3
libraries/AP_NavEKF/AP_NavEKF_Source.h
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@ -41,7 +41,8 @@ public:
NONE = 0,
COMPASS = 1,
EXTERNAL = 2,
EXTERNAL_COMPASS_FALLBACK = 3
EXTERNAL_COMPASS_FALLBACK = 3,
EXTNAV = 6
};
// enum for OPTIONS parameter