aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_InertialNav: make some functions protected

Browse Source
This commit is contained in:
Andrew Tridgell 2014-01-05 16:35:08 +11:00
parent c33da7b3a2
commit c995f994c5
1 changed files with 33 additions and 32 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

65
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -82,22 +82,6 @@ public:
*/
virtual bool position_ok() const;
/**
* check_gps - checks if new gps readings have arrived and calls correct_with_gps to
* calculate the horizontal position error
* @see correct_with_gps(int32_t lon, int32_t lat, float dt);
*/
void check_gps();
/**
* correct_with_gps - calculates horizontal position error using gps
*
* @param now : current time since boot in milliseconds
* @param lon : longitude in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
* @param lat : latitude in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
*/
void correct_with_gps(uint32_t now, int32_t lon, int32_t lat);
/**
* get_position - returns the current position relative to the home location in cm.
*
@ -181,22 +165,6 @@ public:
*/
virtual bool altitude_ok() const { return true; }
/**
* check_baro - checks if new baro readings have arrived and calls correct_with_baro to
* calculate the vertical position error
*
* @see correct_with_baro(float baro_alt, float dt);
*/
void check_baro();
/**
* correct_with_baro - calculates vertical position error using barometer.
*
* @param baro_alt : altitude in cm
* @param dt : time since last baro reading in s
*/
void correct_with_baro(float baro_alt, float dt);
/**
* get_altitude - get latest altitude estimate in cm above the
* reference position
@ -245,6 +213,39 @@ public:
protected:
/**
* correct_with_gps - calculates horizontal position error using gps
*
* @param now : current time since boot in milliseconds
* @param lon : longitude in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
* @param lat : latitude in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
*/
void correct_with_gps(uint32_t now, int32_t lon, int32_t lat);
/**
* check_gps - checks if new gps readings have arrived and calls correct_with_gps to
* calculate the horizontal position error
* @see correct_with_gps(int32_t lon, int32_t lat, float dt);
*/
void check_gps();
/**
* check_baro - checks if new baro readings have arrived and calls correct_with_baro to
* calculate the vertical position error
*
* @see correct_with_baro(float baro_alt, float dt);
*/
void check_baro();
/**
* correct_with_baro - calculates vertical position error using barometer.
*
* @param baro_alt : altitude in cm
* @param dt : time since last baro reading in s
*/
void correct_with_baro(float baro_alt, float dt);
/**
* update gains from time constant.
*