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AP_NavEKF: fixed use of configured() vs configured_in_storage()

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Andrew Tridgell 2022-05-12 08:04:36 +10:00 committed by Peter Barker
parent d5670ace3b
commit 72470e290c
2 changed files with 10 additions and 10 deletions
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12
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
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@ -286,20 +286,20 @@ bool AP_NavEKF_Source::usingGPS() const
} }
// true if some parameters have been configured (used during parameter conversion) // true if some parameters have been configured (used during parameter conversion)
bool AP_NavEKF_Source::configured_in_storage() bool AP_NavEKF_Source::configured()
{ {
if (config_in_storage) { if (_configured) {
return true; return true;
} }
// first source parameter is used to determine if configured or not // first source parameter is used to determine if configured or not
config_in_storage = _source_set[0].posxy.configured_in_storage(); _configured = _source_set[0].posxy.configured();
return config_in_storage; return _configured;
} }
// mark parameters as configured in storage (used to ensure parameter conversion is only done once) // mark parameters as configured (used to ensure parameter conversion is only done once)
void AP_NavEKF_Source::mark_configured_in_storage() void AP_NavEKF_Source::mark_configured()
{ {
// save first parameter's current value to mark as configured // save first parameter's current value to mark as configured
return _source_set[0].posxy.save(true); return _source_set[0].posxy.save(true);

8
libraries/AP_NavEKF/AP_NavEKF_Source.h
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@ -85,10 +85,10 @@ public:
bool usingGPS() const; bool usingGPS() const;
// true if source parameters have been configured (used for parameter conversion) // true if source parameters have been configured (used for parameter conversion)
bool configured_in_storage(); bool configured();
// mark parameters as configured in storage (used to ensure parameter conversion is only done once) // mark parameters as configured (used to ensure parameter conversion is only done once)
void mark_configured_in_storage(); void mark_configured();
// returns false if we fail arming checks, in which case the buffer will be populated with a failure message // returns false if we fail arming checks, in which case the buffer will be populated with a failure message
// requires_position should be true if horizontal position configuration should be checked // requires_position should be true if horizontal position configuration should be checked
@ -119,5 +119,5 @@ private:
AP_Int16 _options; // source options bitmask AP_Int16 _options; // source options bitmask
uint8_t active_source_set; // index of active source set uint8_t active_source_set; // index of active source set
bool config_in_storage; // true once configured in storage has returned true bool _configured; // true once configured has returned true
}; };