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

AP_AHRS: rename using_EKF to active_EKF_type()

Browse Source 
thanks to Randy for the suggestion
This commit is contained in:
Andrew Tridgell 2015-09-23 17:53:44 +10:00
parent f270573acc
commit dde8330077
3 changed files with 20 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_AHRS/AP_AHRS.h
View File

@ -50,11 +50,6 @@
#define AP_AHRS_RP_P_MIN 0.05f // minimum value for AHRS_RP_P parameter
#define AP_AHRS_YAW_P_MIN 0.05f // minimum value for AHRS_YAW_P parameter
#define EKF_DO_NOT_USE 0 // Prevents the EKF from being used by the flight controllers
#define EKF_USE_WITH_FALLBACK 1 // Uses the EKF unless its solution is unhealthy or not initialised. This allows sensor errors to cause reversion.
#define EKF_USE_WITHOUT_FALLBACK 2 // Uses the EKF unless it encounters numerical processing errors or isn't iniitalised. Sensor errors will not cause reversion.
#define EKF_USE_SECONDARY 3 // Use 2nd EKF if available
enum AHRS_VehicleClass {
AHRS_VEHICLE_UNKNOWN,
AHRS_VEHICLE_GROUND,

38
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -31,7 +31,7 @@ extern const AP_HAL::HAL& hal;
// return the smoothed gyro vector corrected for drift
const Vector3f &AP_AHRS_NavEKF::get_gyro(void) const
{
if (!using_EKF()) {
if (!active_EKF_type()) {
return AP_AHRS_DCM::get_gyro();
}
return _gyro_estimate;
@ -39,7 +39,7 @@ const Vector3f &AP_AHRS_NavEKF::get_gyro(void) const
const Matrix3f &AP_AHRS_NavEKF::get_dcm_matrix(void) const
{
if (!using_EKF()) {
if (!active_EKF_type()) {
return AP_AHRS_DCM::get_dcm_matrix();
}
return _dcm_matrix;
@ -47,7 +47,7 @@ const Matrix3f &AP_AHRS_NavEKF::get_dcm_matrix(void) const
const Vector3f &AP_AHRS_NavEKF::get_gyro_drift(void) const
{
if (!using_EKF()) {
if (!active_EKF_type()) {
return AP_AHRS_DCM::get_gyro_drift();
}
return _gyro_bias;
@ -102,7 +102,7 @@ void AP_AHRS_NavEKF::update_EKF1(void)
if (ekf1_started) {
EKF1.UpdateFilter();
EKF1.getRotationBodyToNED(_dcm_matrix);
if (using_EKF() == EKF_TYPE1) {
if (active_EKF_type() == EKF_TYPE1) {
Vector3f eulers;
EKF1.getEulerAngles(eulers);
roll = eulers.x;
@ -172,7 +172,7 @@ void AP_AHRS_NavEKF::update_EKF2(void)
if (ekf2_started) {
EKF2.UpdateFilter();
EKF2.getRotationBodyToNED(_dcm_matrix);
if (using_EKF() == EKF_TYPE2) {
if (active_EKF_type() == EKF_TYPE2) {
Vector3f eulers;
EKF2.getEulerAngles(eulers);
roll = eulers.x;
@ -230,7 +230,7 @@ void AP_AHRS_NavEKF::update_EKF2(void)
// accelerometer values in the earth frame in m/s/s
const Vector3f &AP_AHRS_NavEKF::get_accel_ef(uint8_t i) const
{
if (using_EKF() == EKF_TYPE_NONE) {
if (active_EKF_type() == EKF_TYPE_NONE) {
return AP_AHRS_DCM::get_accel_ef(i);
}
return _accel_ef_ekf[i];
@ -239,7 +239,7 @@ const Vector3f &AP_AHRS_NavEKF::get_accel_ef(uint8_t i) const
// blended accelerometer values in the earth frame in m/s/s
const Vector3f &AP_AHRS_NavEKF::get_accel_ef_blended(void) const
{
if (using_EKF() == EKF_TYPE_NONE) {
if (active_EKF_type() == EKF_TYPE_NONE) {
return AP_AHRS_DCM::get_accel_ef_blended();
}
return _accel_ef_ekf_blended;
@ -272,7 +272,7 @@ void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, con
bool AP_AHRS_NavEKF::get_position(struct Location &loc) const
{
Vector3f ned_pos;
switch (using_EKF()) {
switch (active_EKF_type()) {
case EKF_TYPE1:
if (EKF1.getLLH(loc) && EKF1.getPosNED(ned_pos)) {
// fixup altitude using relative position from AHRS home, not
@ -311,7 +311,7 @@ float AP_AHRS_NavEKF::get_error_yaw(void) const
Vector3f AP_AHRS_NavEKF::wind_estimate(void)
{
Vector3f wind;
switch (using_EKF()) {
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
wind = AP_AHRS_DCM::wind_estimate();
break;
@ -337,7 +337,7 @@ bool AP_AHRS_NavEKF::airspeed_estimate(float *airspeed_ret) const
// true if compass is being used
bool AP_AHRS_NavEKF::use_compass(void)
{
switch (using_EKF()) {
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
break;
case EKF_TYPE1:
@ -352,7 +352,7 @@ bool AP_AHRS_NavEKF::use_compass(void)
// return secondary attitude solution if available, as eulers in radians
bool AP_AHRS_NavEKF::get_secondary_attitude(Vector3f &eulers)
{
switch (using_EKF()) {
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
// EKF is secondary
EKF1.getEulerAngles(eulers);
@ -370,7 +370,7 @@ bool AP_AHRS_NavEKF::get_secondary_attitude(Vector3f &eulers)
// return secondary position solution if available
bool AP_AHRS_NavEKF::get_secondary_position(struct Location &loc)
{
switch (using_EKF()) {
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
// EKF is secondary
EKF1.getLLH(loc);
@ -390,7 +390,7 @@ Vector2f AP_AHRS_NavEKF::groundspeed_vector(void)
{
Vector3f vec;
switch (using_EKF()) {
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
return AP_AHRS_DCM::groundspeed_vector();
@ -413,14 +413,14 @@ void AP_AHRS_NavEKF::set_home(const Location &loc)
// return true if inertial navigation is active
bool AP_AHRS_NavEKF::have_inertial_nav(void) const
{
return using_EKF() != EKF_TYPE_NONE;
return active_EKF_type() != EKF_TYPE_NONE;
}
// return a ground velocity in meters/second, North/East/Down
// order. Must only be called if have_inertial_nav() is true
bool AP_AHRS_NavEKF::get_velocity_NED(Vector3f &vec) const
{
switch (using_EKF()) {
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
return false;
@ -439,7 +439,7 @@ bool AP_AHRS_NavEKF::get_velocity_NED(Vector3f &vec) const
// order. Must only be called if have_inertial_nav() is true
bool AP_AHRS_NavEKF::get_relative_position_NED(Vector3f &vec) const
{
switch (using_EKF()) {
switch (active_EKF_type()) {
case EKF_TYPE_NONE:
return false;
@ -472,7 +472,7 @@ uint8_t AP_AHRS_NavEKF::ekf_type(void) const
return type;
}
AP_AHRS_NavEKF::EKF_TYPE AP_AHRS_NavEKF::using_EKF(void) const
AP_AHRS_NavEKF::EKF_TYPE AP_AHRS_NavEKF::active_EKF_type(void) const
{
EKF_TYPE ret = EKF_TYPE_NONE;
@ -568,7 +568,7 @@ bool AP_AHRS_NavEKF::healthy(void) const
}
if ((_vehicle_class == AHRS_VEHICLE_FIXED_WING ||
_vehicle_class == AHRS_VEHICLE_GROUND) &&
using_EKF() != EKF_TYPE1) {
active_EKF_type() != EKF_TYPE1) {
// on fixed wing we want to be using EKF to be considered
// healthy if EKF is enabled
return false;
@ -583,7 +583,7 @@ bool AP_AHRS_NavEKF::healthy(void) const
}
if ((_vehicle_class == AHRS_VEHICLE_FIXED_WING ||
_vehicle_class == AHRS_VEHICLE_GROUND) &&
using_EKF() != EKF_TYPE2) {
active_EKF_type() != EKF_TYPE2) {
// on fixed wing we want to be using EKF to be considered
// healthy if EKF is enabled
return false;

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -156,7 +156,7 @@ public:
private:
enum EKF_TYPE {EKF_TYPE_NONE, EKF_TYPE1, EKF_TYPE2};
EKF_TYPE using_EKF(void) const;
EKF_TYPE active_EKF_type(void) const;
NavEKF &EKF1;
NavEKF2 &EKF2;