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AP_AHRS: Add public method to inhibit GPS useage when using EKF

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This provides the calling vehicle software the abiity to request the EKF to not use GPS.
An integer is returned that indicates the type of operation available:
0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed)
1 = request accepted, attitude, vertical velocity and position estimates available
2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
This commit is contained in:
priseborough 2014-11-13 05:49:15 +11:00 committed by Andrew Tridgell
parent e53d28854e
commit 5532750a99
2 changed files with 9 additions and 0 deletions
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6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -320,5 +320,11 @@ void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlo
{
EKF.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, rangeHealth, rawSonarRange);
}
// inhibit GPS useage
uint8_t AP_AHRS_NavEKF::setInhibitGPS(void)
{
return EKF.setInhibitGPS();;
}
#endif // AP_AHRS_NAVEKF_AVAILABLE

3
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -104,6 +104,9 @@ public:
// write optical flow measurements to EKF
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange);
// inibit GPS useage
uint8_t setInhibitGPS(void);
void set_ekf_use(bool setting) { _ekf_use.set(setting); }
// is the AHRS subsystem healthy?