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AP_NavEKF3: Fix GPS use inhibit interface documentation

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This commit is contained in:
priseborough 2016-12-13 16:48:15 +11:00 committed by Randy Mackay
parent c7e1828238
commit e5e4883c72
4 changed files with 9 additions and 18 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -874,11 +874,9 @@ bool NavEKF3::resetHeightDatum(void)
}
// Commands the EKF to not use GPS.
// This command must be sent prior to arming as it will only be actioned when the filter is in static mode
// This command is forgotten by the EKF each time it goes back into static mode (eg the vehicle disarms)
// This command must be sent prior to vehicle arming and EKF commencement of GPS usage
// Returns 0 if command rejected
// Returns 1 if attitude, vertical velocity and vertical position will be provided
// Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
// Returns 1 if command accepted
uint8_t NavEKF3::setInhibitGPS(void)
{
if (!core) {

6
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -112,11 +112,9 @@ public:
bool resetHeightDatum(void);
// Commands the EKF to not use GPS.
// This command must be sent prior to arming as it will only be actioned when the filter is in static mode
// This command is forgotten by the EKF each time it goes back into static mode (eg the vehicle disarms)
// This command must be sent prior to vehicle arming and EKF commencement of GPS usage
// Returns 0 if command rejected
// Returns 1 if attitude, vertical velocity and vertical position will be provided
// Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
// Returns 1 if command accepted
uint8_t setInhibitGPS(void);
// return the horizontal speed limit in m/s set by optical flow sensor limits

9
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -449,20 +449,17 @@ bool NavEKF3_core::checkGyroCalStatus(void)
}
// Commands the EKF to not use GPS.
// This command must be sent prior to arming
// This command is forgotten by the EKF each time the vehicle disarms
// This command must be sent prior to vehicle arming and EKF commencement of GPS usage
// Returns 0 if command rejected
// Returns 1 if attitude, vertical velocity and vertical position will be provided
// Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
// Returns 1 if command accepted
uint8_t NavEKF3_core::setInhibitGPS(void)
{
if((PV_AidingMode == AID_ABSOLUTE) && motorsArmed) {
if((PV_AidingMode == AID_ABSOLUTE) || motorsArmed) {
return 0;
} else {
gpsInhibit = true;
return 1;
}
// option 2 is not yet implemented as it requires a deeper integration of optical flow and GPS operation
}
// Update the filter status

6
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -125,11 +125,9 @@ public:
bool resetHeightDatum(void);
// Commands the EKF to not use GPS.
// This command must be sent prior to arming as it will only be actioned when the filter is in static mode
// This command is forgotten by the EKF each time it goes back into static mode (eg the vehicle disarms)
// This command must be sent prior to vehicle arming and EKF commencement of GPS usage
// Returns 0 if command rejected
// Returns 1 if attitude, vertical velocity and vertical position will be provided
// Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
// Returns 1 if command accepted
uint8_t setInhibitGPS(void);
// return the horizontal speed limit in m/s set by optical flow sensor limits