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Copter: handle setting of ekf origin in GCS_MAVLink

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Peter Barker 2018-05-16 13:38:50 +10:00 committed by Andrew Tridgell
parent 3e0dcacf58
commit 9dce133938
4 changed files with 0 additions and 34 deletions
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1
ArduCopter/Copter.h
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@ -700,7 +700,6 @@ private:
void set_home_to_current_location_inflight();
bool set_home_to_current_location(bool lock);
bool set_home(const Location& loc, bool lock);
void set_ekf_origin(const Location& loc);
bool far_from_EKF_origin(const Location& loc);
void set_system_time_from_GPS();

6
ArduCopter/GCS_Mavlink.cpp
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@ -1803,9 +1803,3 @@ const AP_FWVersion &GCS_MAVLINK_Copter::get_fwver() const
{
return copter.fwver;
}
void GCS_MAVLINK_Copter::set_ekf_origin(const Location& loc)
{
copter.set_ekf_origin(loc);
}

1
ArduCopter/GCS_Mavlink.h
View File

@ -24,7 +24,6 @@ protected:
AP_AdvancedFailsafe *get_advanced_failsafe() const override;
AP_VisualOdom *get_visual_odom() const override;
const AP_FWVersion &get_fwver() const override;
void set_ekf_origin(const Location& loc) override;
uint8_t sysid_my_gcs() const override;

26
ArduCopter/commands.cpp
View File

@ -110,32 +110,6 @@ bool Copter::set_home(const Location& loc, bool lock)
return true;
}
// sets ekf_origin if it has not been set.
// should only be used when there is no GPS to provide an absolute position
void Copter::set_ekf_origin(const Location& loc)
{
// check location is valid
if (!check_latlng(loc)) {
return;
}
// check 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);
}
// far_from_EKF_origin - checks if a location is too far from the EKF origin
// returns true if too far
bool Copter::far_from_EKF_origin(const Location& loc)