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AP_AHRS: Enable EKF3 default airspeed to be set

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AP_AHRS: Send default airspeed to EKF2
This commit is contained in:
Paul Riseborough 2020-03-10 17:49:14 +11:00 committed by Andrew Tridgell
parent de0040ad69
commit 9cf75bf22e
2 changed files with 13 additions and 0 deletions
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10
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1455,6 +1455,16 @@ void AP_AHRS_NavEKF::writeExtNavData(const Vector3f &pos, const Quaternion &quat
#endif #endif
} }
// Writes the default equivalent airspeed in m/s to be used in forward flight if a measured airspeed is required and not available.
void AP_AHRS_NavEKF::writeDefaultAirSpeed(float airspeed)
{
#if HAL_NAVEKF2_AVAILABLE
EKF2.writeDefaultAirSpeed(airspeed);
#endif
#if HAL_NAVEKF3_AVAILABLE
EKF3.writeDefaultAirSpeed(airspeed);
#endif
}
// inhibit GPS usage // inhibit GPS usage
uint8_t AP_AHRS_NavEKF::setInhibitGPS(void) uint8_t AP_AHRS_NavEKF::setInhibitGPS(void)

3
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -179,6 +179,9 @@ public:
// write body odometry measurements to the EKF // write body odometry measurements to the EKF
void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset); void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset);
// Writes the default equivalent airspeed in m/s to be used in forward flight if a measured airspeed is required and not available.
void writeDefaultAirSpeed(float airspeed);
// Write position and quaternion data from an external navigation system // Write position and quaternion data from an external navigation system
void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint32_t resetTime_ms) override; void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint32_t resetTime_ms) override;