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AP_AHRS: move VehicleClass handling to AHRS frontend

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.... and renaming the enumeration while we're at it
This commit is contained in:
Peter Barker 2021-08-12 09:25:34 +10:00 committed by Andrew Tridgell
parent f5c68d54cb
commit 1cfd9f57ce
3 changed files with 30 additions and 25 deletions
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12
libraries/AP_AHRS/AP_AHRS.cpp
View File

@ -1746,8 +1746,8 @@ AP_AHRS::EKFType AP_AHRS::active_EKF_type(void) const
wing and rover
*/
if (ret != EKFType::NONE &&
(_vehicle_class == AHRS_VEHICLE_FIXED_WING ||
_vehicle_class == AHRS_VEHICLE_GROUND) &&
(_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND) &&
(fly_forward || !hal.util->get_soft_armed())) {
bool should_use_gps = true;
nav_filter_status filt_state;
@ -1881,8 +1881,8 @@ bool AP_AHRS::healthy(void) const
if (!ret) {
return false;
}
if ((_vehicle_class == AHRS_VEHICLE_FIXED_WING ||
_vehicle_class == AHRS_VEHICLE_GROUND) &&
if ((_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND) &&
active_EKF_type() != EKFType::TWO) {
// on fixed wing we want to be using EKF to be considered
// healthy if EKF is enabled
@ -1898,8 +1898,8 @@ bool AP_AHRS::healthy(void) const
if (!ret) {
return false;
}
if ((_vehicle_class == AHRS_VEHICLE_FIXED_WING ||
_vehicle_class == AHRS_VEHICLE_GROUND) &&
if ((_vehicle_class == VehicleClass::FIXED_WING ||
_vehicle_class == VehicleClass::GROUND) &&
active_EKF_type() != EKFType::THREE) {
// on fixed wing we want to be using EKF to be considered
// healthy if EKF is enabled

24
libraries/AP_AHRS/AP_AHRS.h
View File

@ -414,6 +414,24 @@ public:
return fly_forward;
}
/* we modify our behaviour based on what sort of vehicle the
* vehicle code tells us we are. This information is also pulled
* from AP_AHRS by other libraries
*/
enum class VehicleClass : uint8_t {
UNKNOWN,
GROUND,
COPTER,
FIXED_WING,
SUBMARINE,
};
VehicleClass get_vehicle_class(void) const {
return _vehicle_class;
}
void set_vehicle_class(VehicleClass vclass) {
_vehicle_class = vclass;
}
protected:
// optional view class
AP_AHRS_View *_view;
@ -421,6 +439,12 @@ protected:
private:
static AP_AHRS *_singleton;
/* we modify our behaviour based on what sort of vehicle the
* vehicle code tells us we are. This information is also pulled
* from AP_AHRS by other libraries
*/
VehicleClass _vehicle_class{VehicleClass::UNKNOWN};
enum class EKFType {
NONE = 0
#if HAL_NAVEKF3_AVAILABLE

19
libraries/AP_AHRS/AP_AHRS_Backend.h
View File

@ -33,15 +33,6 @@ class OpticalFlow;
#define AP_AHRS_RP_P_MIN 0.05f // minimum value for AHRS_RP_P parameter
#define AP_AHRS_YAW_P_MIN 0.05f // minimum value for AHRS_YAW_P parameter
enum AHRS_VehicleClass : uint8_t {
AHRS_VEHICLE_UNKNOWN,
AHRS_VEHICLE_GROUND,
AHRS_VEHICLE_COPTER,
AHRS_VEHICLE_FIXED_WING,
AHRS_VEHICLE_SUBMARINE,
};
class AP_AHRS_Backend
{
public:
@ -58,14 +49,6 @@ public:
// init sets up INS board orientation
virtual void init();
AHRS_VehicleClass get_vehicle_class(void) const {
return _vehicle_class;
}
void set_vehicle_class(AHRS_VehicleClass vclass) {
_vehicle_class = vclass;
}
void set_wind_estimation(bool b) {
_flags.wind_estimation = b;
}
@ -483,8 +466,6 @@ protected:
// multi-thread access support
HAL_Semaphore _rsem;
AHRS_VehicleClass _vehicle_class{AHRS_VEHICLE_UNKNOWN};
// settable parameters
// these are public for ArduCopter
AP_Float _kp_yaw;