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AP_AHRS: pass baro into AP_AHRS

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first step in making AHRS handle altitude
This commit is contained in:
Andrew Tridgell 2014-01-02 17:06:30 +11:00
parent df5195e2c9
commit 1e476e511a
3 changed files with 13 additions and 7 deletions
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12
libraries/AP_AHRS/AP_AHRS.h
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@ -37,16 +37,17 @@ class AP_AHRS
{ {
public: public:
// Constructor // Constructor
AP_AHRS(AP_InertialSensor &ins, GPS *&gps) : AP_AHRS(AP_InertialSensor &ins, AP_Baro &baro, GPS *&gps) :
_compass(NULL), _compass(NULL),
_ins(ins), _ins(ins),
_gps(gps),
_cos_roll(1.0f), _cos_roll(1.0f),
_cos_pitch(1.0f), _cos_pitch(1.0f),
_cos_yaw(1.0f), _cos_yaw(1.0f),
_sin_roll(0.0f), _sin_roll(0.0f),
_sin_pitch(0.0f), _sin_pitch(0.0f),
_sin_yaw(0.0f) _sin_yaw(0.0f),
_baro(baro),
_gps(gps)
{ {
// load default values from var_info table // load default values from var_info table
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
@ -110,6 +111,10 @@ public:
return _ins; return _ins;
} }
const AP_Baro &get_baro() const {
return _baro;
}
// accelerometer values in the earth frame in m/s/s // accelerometer values in the earth frame in m/s/s
const Vector3f &get_accel_ef(void) const { return _accel_ef; } const Vector3f &get_accel_ef(void) const { return _accel_ef; }
@ -305,6 +310,7 @@ protected:
// note: we use ref-to-pointer here so that our caller can change the GPS without our noticing // note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
// IMU under us without our noticing. // IMU under us without our noticing.
AP_InertialSensor &_ins; AP_InertialSensor &_ins;
AP_Baro &_baro;
GPS *&_gps; GPS *&_gps;
// a vector to capture the difference between the controller and body frames // a vector to capture the difference between the controller and body frames

4
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -25,8 +25,8 @@ class AP_AHRS_DCM : public AP_AHRS
{ {
public: public:
// Constructors // Constructors
AP_AHRS_DCM(AP_InertialSensor &ins, GPS *&gps) : AP_AHRS_DCM(AP_InertialSensor &ins, AP_Baro &baro, GPS *&gps) :
AP_AHRS(ins, gps), AP_AHRS(ins, baro, gps),
_last_declination(0), _last_declination(0),
_mag_earth(1,0) _mag_earth(1,0)
{ {

4
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -32,8 +32,8 @@ class AP_AHRS_NavEKF : public AP_AHRS_DCM
{ {
public: public:
// Constructor // Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, GPS *&gps, AP_Baro &baro) : AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, GPS *&gps) :
AP_AHRS_DCM(ins, gps), AP_AHRS_DCM(ins, baro, gps),
EKF(this, baro), EKF(this, baro),
_baro(baro), _baro(baro),
ekf_started(false), ekf_started(false),