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AP_AHRS: move AOA state to private in frontend

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AP_AHRS: make update_AOA_SSA non-virtual
This commit is contained in:
Peter Barker 2021-07-31 17:21:38 +10:00 committed by Peter Barker
parent 7e8f812909
commit 383807e334
2 changed files with 7 additions and 7 deletions
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10
libraries/AP_AHRS/AP_AHRS.h
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@ -331,9 +331,6 @@ public:
// write AOA and SSA information to dataflash logs: // write AOA and SSA information to dataflash logs:
void Write_AOA_SSA(void) const; void Write_AOA_SSA(void) const;
// update AOA and SSA values
virtual void update_AOA_SSA(void);
// return AOA // return AOA
float getAOA(void) const { return _AOA; } float getAOA(void) const { return _AOA; }
@ -408,6 +405,13 @@ private:
TriState terrainHgtStableState = TriState::UNKNOWN; TriState terrainHgtStableState = TriState::UNKNOWN;
/*
* private AOA and SSA-related state and methods
*/
float _AOA, _SSA;
uint32_t _last_AOA_update_ms;
void update_AOA_SSA(void);
EKFType last_active_ekf_type; EKFType last_active_ekf_type;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

4
libraries/AP_AHRS/AP_AHRS_Backend.h
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@ -645,10 +645,6 @@ protected:
// which accelerometer instance is active // which accelerometer instance is active
uint8_t _active_accel_instance; uint8_t _active_accel_instance;
// AOA and SSA
float _AOA, _SSA;
uint32_t _last_AOA_update_ms;
private: private:
uint32_t takeoff_expected_start_ms; uint32_t takeoff_expected_start_ms;