C++ (Cpp) update_DCM Exemples

Exemple #1

Fichier : AP_AHRS_NavEKF.cpp Projet : njoubert/ardupilot

void AP_AHRS_NavEKF::update(bool skip_ins_update)
{
    // EKF1 is no longer supported - handle case where it is selected
    if (_ekf_type == 1) {
        _ekf_type.set(2);
    }
    update_DCM(skip_ins_update);
    update_EKF2();
    update_EKF3();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    update_SITL();
#endif

    // call AHRS_update hook if any
    AP_Module::call_hook_AHRS_update(*this);

    // push gyros if optical flow present
    if (hal.opticalflow) {
        const Vector3f &exported_gyro_bias = get_gyro_drift();
        hal.opticalflow->push_gyro_bias(exported_gyro_bias.x, exported_gyro_bias.y);
    }

    if (_view != nullptr) {
        // update optional alternative attitude view
        _view->update(skip_ins_update);
    }
}

Exemple #2

Fichier : AP_AHRS_NavEKF.cpp Projet : haogodent2/ardupilot

void AP_AHRS_NavEKF::update(void)
{
    update_DCM();
    update_EKF1();
    update_EKF2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    update_SITL();
#endif
}

Exemple #3

Fichier : AP_AHRS_NavEKF.cpp Projet : AquilaUAS/ardupilot

void AP_AHRS_NavEKF::update(void)
{
#if !AP_AHRS_WITH_EKF1
    if (_ekf_type == 1) {
        _ekf_type.set(2);
    }
#endif
    update_DCM();
#if AP_AHRS_WITH_EKF1
    update_EKF1();
#endif
    update_EKF2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    update_SITL();
#endif
}

Exemple #4

Fichier : AP_AHRS_NavEKF.cpp Projet : ericzhangva/ardupilot

void AP_AHRS_NavEKF::update(bool skip_ins_update)
{
    // support locked access functions to AHRS data
    WITH_SEMAPHORE(_rsem);
    
    // drop back to normal priority if we were boosted by the INS
    // calling delay_microseconds_boost()
    hal.scheduler->boost_end();
    
    // EKF1 is no longer supported - handle case where it is selected
    if (_ekf_type == 1) {
        _ekf_type.set(2);
    }

    update_DCM(skip_ins_update);

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    update_SITL();
#endif

    if (_ekf_type == 2) {
        // if EK2 is primary then run EKF2 first to give it CPU
        // priority
        update_EKF2();
        update_EKF3();
    } else {
        // otherwise run EKF3 first
        update_EKF3();
        update_EKF2();
    }

#if AP_MODULE_SUPPORTED
    // call AHRS_update hook if any
    AP_Module::call_hook_AHRS_update(*this);
#endif

    // push gyros if optical flow present
    if (hal.opticalflow) {
        const Vector3f &exported_gyro_bias = get_gyro_drift();
        hal.opticalflow->push_gyro_bias(exported_gyro_bias.x, exported_gyro_bias.y);
    }

    if (_view != nullptr) {
        // update optional alternative attitude view
        _view->update(skip_ins_update);
    }
}

Exemple #5

Fichier : AP_AHRS_NavEKF.cpp Projet : RQRobert/ardupilot

void AP_AHRS_NavEKF::update(void)
{
#if !AP_AHRS_WITH_EKF1
    if (_ekf_type == 1) {
        _ekf_type.set(2);
    }
#endif
    update_DCM();
#if AP_AHRS_WITH_EKF1
    update_EKF1();
#endif
    update_EKF2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    update_SITL();
#endif

    // call AHRS_update hook if any
    AP_Module::call_hook_AHRS_update(*this);
}

Exemple #6

Fichier : AP_AHRS_NavEKF.cpp Projet : czq13/THUF35

void AP_AHRS_NavEKF::update(void)
{
    update_DCM();
    update_EKF1();
    update_EKF2();
}