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AP_NavEKF3: use common structure names

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This commit is contained in:
Andrew Tridgell 2020-11-16 14:34:01 +11:00 committed by Peter Barker
parent 3a4095fc7f
commit 4c606a30bb
1 changed files with 11 additions and 11 deletions
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22
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -910,7 +910,7 @@ void NavEKF3::UpdateFilter(void)
*/
void NavEKF3::checkLaneSwitch(void)
{
AP::dal().log_event3(AP_DAL::Event3::checkLaneSwitch);
AP::dal().log_event3(AP_DAL::Event::checkLaneSwitch);
uint32_t now = AP::dal().millis();
if (lastLaneSwitch_ms != 0 && now - lastLaneSwitch_ms < 5000) {
@ -947,7 +947,7 @@ void NavEKF3::checkLaneSwitch(void)
void NavEKF3::requestYawReset(void)
{
AP::dal().log_event3(AP_DAL::Event3::requestYawReset);
AP::dal().log_event3(AP_DAL::Event::requestYawReset);
for (uint8_t i = 0; i < num_cores; i++) {
core[i].EKFGSF_requestYawReset();
@ -1125,7 +1125,7 @@ void NavEKF3::getTiltError(int8_t instance, float &ang) const
// reset body axis gyro bias estimates
void NavEKF3::resetGyroBias(void)
{
AP::dal().log_event3(AP_DAL::Event3::resetGyroBias);
AP::dal().log_event3(AP_DAL::Event::resetGyroBias);
if (core) {
for (uint8_t i=0; i<num_cores; i++) {
@ -1141,7 +1141,7 @@ void NavEKF3::resetGyroBias(void)
// If using a range finder for height no reset is performed and it returns false
bool NavEKF3::resetHeightDatum(void)
{
AP::dal().log_event3(AP_DAL::Event3::resetHeightDatum);
AP::dal().log_event3(AP_DAL::Event::resetHeightDatum);
bool status = true;
if (core) {
@ -1162,7 +1162,7 @@ bool NavEKF3::resetHeightDatum(void)
// Returns 1 if command accepted
uint8_t NavEKF3::setInhibitGPS(void)
{
AP::dal().log_event3(AP_DAL::Event3::setInhibitGPS);
AP::dal().log_event3(AP_DAL::Event::setInhibitGPS);
if (!core) {
return 0;
@ -1592,9 +1592,9 @@ bool NavEKF3::getRangeBeaconDebug(int8_t instance, uint8_t &ID, float &rng, floa
void NavEKF3::setTakeoffExpected(bool val)
{
if (val) {
AP::dal().log_event3(AP_DAL::Event3::setTakeoffExpected);
AP::dal().log_event3(AP_DAL::Event::setTakeoffExpected);
} else {
AP::dal().log_event3(AP_DAL::Event3::unsetTakeoffExpected);
AP::dal().log_event3(AP_DAL::Event::unsetTakeoffExpected);
}
if (core) {
@ -1609,9 +1609,9 @@ void NavEKF3::setTakeoffExpected(bool val)
void NavEKF3::setTouchdownExpected(bool val)
{
if (val) {
AP::dal().log_event3(AP_DAL::Event3::setTouchdownExpected);
AP::dal().log_event3(AP_DAL::Event::setTouchdownExpected);
} else {
AP::dal().log_event3(AP_DAL::Event3::unsetTouchdownExpected);
AP::dal().log_event3(AP_DAL::Event::unsetTouchdownExpected);
}
if (core) {
@ -1628,9 +1628,9 @@ void NavEKF3::setTouchdownExpected(bool val)
void NavEKF3::setTerrainHgtStable(bool val)
{
if (val) {
AP::dal().log_event3(AP_DAL::Event3::setTerrainHgtStable);
AP::dal().log_event3(AP_DAL::Event::setTerrainHgtStable);
} else {
AP::dal().log_event3(AP_DAL::Event3::unsetTerrainHgtStable);
AP::dal().log_event3(AP_DAL::Event::unsetTerrainHgtStable);
}
if (core) {