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AP_AHRS_NavEKF: inform all running EKFs that takeoff or touchdown is … #13148

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merged 1 commit into from
Jan 7, 2020
Merged

AP_AHRS_NavEKF: inform all running EKFs that takeoff or touchdown is … #13148

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34 changes: 4 additions & 30 deletions libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1716,40 +1716,14 @@ bool AP_AHRS_NavEKF::get_variances(float &velVar, float &posVar, float &hgtVar,

void AP_AHRS_NavEKF::setTakeoffExpected(bool val)
{
switch (ekf_type()) {
case EKF_TYPE2:
default:
EKF2.setTakeoffExpected(val);
break;

case EKF_TYPE3:
EKF3.setTakeoffExpected(val);
break;

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKF_TYPE_SITL:
break;
#endif
}
EKF2.setTakeoffExpected(val);
EKF3.setTakeoffExpected(val);
}

void AP_AHRS_NavEKF::setTouchdownExpected(bool val)
{
switch (ekf_type()) {
case EKF_TYPE2:
default:
EKF2.setTouchdownExpected(val);
break;

case EKF_TYPE3:
EKF3.setTouchdownExpected(val);
break;

#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKF_TYPE_SITL:
break;
#endif
}
EKF2.setTouchdownExpected(val);
EKF3.setTouchdownExpected(val);
}

bool AP_AHRS_NavEKF::getGpsGlitchStatus() const
Expand Down