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AP_AHRS: Tag a lot of the accessors as WARN_IF_UNUSED

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Michael du Breuil 2019-03-12 02:47:09 -07:00 committed by Andrew Tridgell
parent 75caad52c0
commit c7c8c2a7c5
1 changed files with 19 additions and 19 deletions
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38
libraries/AP_AHRS/AP_AHRS.h
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@ -286,11 +286,11 @@ public:
// return an airspeed estimate if available. return true
// if we have an estimate
virtual bool airspeed_estimate(float *airspeed_ret) const;
virtual bool airspeed_estimate(float *airspeed_ret) const WARN_IF_UNUSED;
// return a true airspeed estimate (navigation airspeed) if
// available. return true if we have an estimate
bool airspeed_estimate_true(float *airspeed_ret) const {
bool airspeed_estimate_true(float *airspeed_ret) const WARN_IF_UNUSED {
if (!airspeed_estimate(airspeed_ret)) {
return false;
}
@ -323,52 +323,52 @@ public:
// return a ground velocity in meters/second, North/East/Down
// order. This will only be accurate if have_inertial_nav() is
// true
virtual bool get_velocity_NED(Vector3f &vec) const {
virtual bool get_velocity_NED(Vector3f &vec) const WARN_IF_UNUSED {
return false;
}
// returns the expected NED magnetic field
virtual bool get_expected_mag_field_NED(Vector3f &ret) const {
virtual bool get_expected_mag_field_NED(Vector3f &ret) const WARN_IF_UNUSED {
return false;
}
// returns the estimated magnetic field offsets in body frame
virtual bool get_mag_field_correction(Vector3f &ret) const {
virtual bool get_mag_field_correction(Vector3f &ret) const WARN_IF_UNUSED {
return false;
}
// return a position relative to home in meters, North/East/Down
// order. This will only be accurate if have_inertial_nav() is
// true
virtual bool get_relative_position_NED_home(Vector3f &vec) const {
virtual bool get_relative_position_NED_home(Vector3f &vec) const WARN_IF_UNUSED {
return false;
}
// return a position relative to origin in meters, North/East/Down
// order. This will only be accurate if have_inertial_nav() is
// true
virtual bool get_relative_position_NED_origin(Vector3f &vec) const {
virtual bool get_relative_position_NED_origin(Vector3f &vec) const WARN_IF_UNUSED {
return false;
}
// return a position relative to home in meters, North/East
// order. Return true if estimate is valid
virtual bool get_relative_position_NE_home(Vector2f &vecNE) const {
virtual bool get_relative_position_NE_home(Vector2f &vecNE) const WARN_IF_UNUSED {
return false;
}
// return a position relative to origin in meters, North/East
// order. Return true if estimate is valid
virtual bool get_relative_position_NE_origin(Vector2f &vecNE) const {
virtual bool get_relative_position_NE_origin(Vector2f &vecNE) const WARN_IF_UNUSED {
return false;
}
// return a Down position relative to home in meters
// if EKF is unavailable will return the baro altitude
virtual void get_relative_position_D_home(float &posD) const = 0;
virtual void get_relative_position_D_home(float &posD) const WARN_IF_UNUSED = 0;
// return a Down position relative to origin in meters
// Return true if estimate is valid
virtual bool get_relative_position_D_origin(float &posD) const {
virtual bool get_relative_position_D_origin(float &posD) const WARN_IF_UNUSED {
return false;
}
@ -433,17 +433,17 @@ public:
static const struct AP_Param::GroupInfo var_info[];
// return secondary attitude solution if available, as eulers in radians
virtual bool get_secondary_attitude(Vector3f &eulers) const {
virtual bool get_secondary_attitude(Vector3f &eulers) const WARN_IF_UNUSED {
return false;
}
// return secondary attitude solution if available, as quaternion
virtual bool get_secondary_quaternion(Quaternion &quat) const {
virtual bool get_secondary_quaternion(Quaternion &quat) const WARN_IF_UNUSED {
return false;
}
// return secondary position solution if available
virtual bool get_secondary_position(struct Location &loc) const {
virtual bool get_secondary_position(struct Location &loc) const WARN_IF_UNUSED {
return false;
}
@ -509,19 +509,19 @@ public:
// return the amount of NE position change in metres due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
virtual uint32_t getLastPosNorthEastReset(Vector2f &pos) const {
virtual uint32_t getLastPosNorthEastReset(Vector2f &pos) const WARN_IF_UNUSED {
return 0;
};
// return the amount of NE velocity change in metres/sec due to the last reset
// returns the time of the last reset or 0 if no reset has ever occurred
virtual uint32_t getLastVelNorthEastReset(Vector2f &vel) const {
virtual uint32_t getLastVelNorthEastReset(Vector2f &vel) const WARN_IF_UNUSED {
return 0;
};
// return the amount of vertical position change due to the last reset in meters
// returns the time of the last reset or 0 if no reset has ever occurred
virtual uint32_t getLastPosDownReset(float &posDelta) const {
virtual uint32_t getLastPosDownReset(float &posDelta) const WARN_IF_UNUSED {
return 0;
};
@ -530,7 +530,7 @@ public:
// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
// Returns true if the height datum reset has been performed
// If using a range finder for height no reset is performed and it returns false
virtual bool resetHeightDatum(void) {
virtual bool resetHeightDatum(void) WARN_IF_UNUSED {
return false;
}
@ -580,7 +580,7 @@ public:
// get_hgt_ctrl_limit - get maximum height to be observed by the
// control loops in meters and a validity flag. It will return
// false when no limiting is required
virtual bool get_hgt_ctrl_limit(float &limit) const { return false; };
virtual bool get_hgt_ctrl_limit(float &limit) const WARN_IF_UNUSED { return false; };
// Write position and quaternion data from an external navigation system
virtual void writeExtNavData(const Vector3f &sensOffset, const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint32_t resetTime_ms) { }