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Plane: handle setting of ekf origin in GCS_MAVLink

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This commit is contained in:
Peter Barker 2018-05-16 13:39:01 +10:00 committed by Andrew Tridgell
parent 9dce133938
commit 7afd056e98
4 changed files with 0 additions and 33 deletions
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5
ArduPlane/GCS_Mavlink.cpp
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@ -1831,8 +1831,3 @@ const AP_FWVersion &GCS_MAVLINK_Plane::get_fwver() const
{ {
return plane.fwver; return plane.fwver;
} }
void GCS_MAVLINK_Plane::set_ekf_origin(const Location& loc)
{
plane.set_ekf_origin(loc);
}

1
ArduPlane/GCS_Mavlink.h
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@ -24,7 +24,6 @@ protected:
AP_AdvancedFailsafe *get_advanced_failsafe() const override; AP_AdvancedFailsafe *get_advanced_failsafe() const override;
AP_Rally *get_rally() const override; AP_Rally *get_rally() const override;
const AP_FWVersion &get_fwver() const override; const AP_FWVersion &get_fwver() const override;
void set_ekf_origin(const Location& loc) override;
uint8_t sysid_my_gcs() const override; uint8_t sysid_my_gcs() const override;

1
ArduPlane/Plane.h
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@ -835,7 +835,6 @@ private:
void set_guided_WP(void); void set_guided_WP(void);
void init_home(); void init_home();
void update_home(); void update_home();
void set_ekf_origin(const Location& loc);
void do_RTL(int32_t alt); void do_RTL(int32_t alt);
bool verify_takeoff(); bool verify_takeoff();
bool verify_loiter_unlim(); bool verify_loiter_unlim();

26
ArduPlane/commands.cpp
View File

@ -148,29 +148,3 @@ void Plane::update_home()
} }
barometer.update_calibration(); barometer.update_calibration();
} }
// sets ekf_origin if it has not been set.
// should only be used when there is no GPS to provide an absolute position
void Plane::set_ekf_origin(const Location& loc)
{
// check location is valid
if (!check_latlng(loc)) {
return;
}
// check if EKF origin has already been set
Location ekf_origin;
if (ahrs.get_origin(ekf_origin)) {
return;
}
if (!ahrs.set_origin(loc)) {
return;
}
// log ahrs home and ekf origin dataflash
ahrs.Log_Write_Home_And_Origin();
// send ekf origin to GCS
gcs().send_ekf_origin(loc);
}