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InertialNav_EKF: get_filter_status replaces position_ok

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This commit is contained in:
Randy Mackay 2015-01-02 17:06:22 +09:00
parent 5d80481723
commit f35efc56e0
2 changed files with 11 additions and 27 deletions
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25
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
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@ -39,15 +39,16 @@ void AP_InertialNav_NavEKF::update(float dt)
}
/**
* position_ok - true if inertial based altitude and position can be trusted
* @return
* get_filter_status : returns filter status as a series of flags
*/
bool AP_InertialNav_NavEKF::position_ok() const
nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
{
if (_ahrs.have_inertial_nav() && _haveabspos) {
return true;
if (_ahrs.have_inertial_nav()) {
nav_filter_status ret;
_ahrs_ekf.get_NavEKF().getFilterStatus(ret);
return ret;
}
return AP_InertialNav::position_ok();
return AP_InertialNav::get_filter_status();
}
/**
@ -143,18 +144,6 @@ float AP_InertialNav_NavEKF::get_velocity_xy() const
return AP_InertialNav::get_velocity_xy();
}
/**
* altitude_ok - returns true if inertial based altitude and position can be trusted
* @return
*/
bool AP_InertialNav_NavEKF::altitude_ok() const
{
if (_ahrs.have_inertial_nav() && _haveabspos) {
return true;
}
return AP_InertialNav::altitude_ok();
}
/**
* get_altitude - get latest altitude estimate in cm
* @return

13
libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
View File

@ -10,6 +10,8 @@
#ifndef __AP_INERTIALNAV_NAVEKF_H__
#define __AP_INERTIALNAV_NAVEKF_H__
#include <AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
class AP_InertialNav_NavEKF : public AP_InertialNav
{
public:
@ -32,10 +34,9 @@ public:
void update(float dt);
/**
* position_ok - true if inertial based altitude and position can be trusted
* @return
* get_filter_status - returns filter status as a series of flags
*/
bool position_ok() const;
nav_filter_status get_filter_status() const;
/**
* get_position - returns the current position relative to the home location in cm.
@ -88,12 +89,6 @@ public:
*/
float get_velocity_xy() const;
/**
* altitude_ok - returns true if inertial based altitude and position can be trusted
* @return
*/
bool altitude_ok() const;
/**
* get_altitude - get latest altitude estimate in cm
* @return