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AP_AHRS: move is_ext_nav_used_for_yaw to parent

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This commit is contained in:
Randy Mackay 2020-03-27 16:32:00 +09:00
parent c0187fe05f
commit 24bb4876a8
2 changed files with 6 additions and 3 deletions
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3
libraries/AP_AHRS/AP_AHRS.h
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@ -184,6 +184,9 @@ public:
// see if EKF lane switching is possible to avoid EKF failsafe // see if EKF lane switching is possible to avoid EKF failsafe
virtual void check_lane_switch(void) {} virtual void check_lane_switch(void) {}
// check whether external navigation is providing yaw. Allows compass pre-arm checks to be bypassed
virtual bool is_ext_nav_used_for_yaw(void) const { return false; }
// Euler angles (radians) // Euler angles (radians)
float roll; float roll;
float pitch; float pitch;

4
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -280,8 +280,8 @@ public:
void Log_Write(); void Log_Write();
// check whether compass can be bypassed for arming check in case when external navigation data is available // check whether external navigation is providing yaw. Allows compass pre-arm checks to be bypassed
bool is_ext_nav_used_for_yaw(void) const; bool is_ext_nav_used_for_yaw(void) const override;
// these are only out here so vehicles can reference them for parameters // these are only out here so vehicles can reference them for parameters
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE