AP_NavEKF3: rename _sources to sources

libraries/AP_NavEKF3/AP_NavEKF3.cpp

@@ -642,7 +642,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
 
     // @Group: SRC_
     // @Path: ../AP_NavEKF/AP_NavEKF_Source.cpp
-    AP_SUBGROUPINFO(_sources, "SRC", 63, NavEKF3, AP_NavEKF_Source),
+    AP_SUBGROUPINFO(sources, "SRC", 63, NavEKF3, AP_NavEKF_Source),
 
     AP_GROUPEND
 };
@@ -672,7 +672,7 @@ bool NavEKF3::InitialiseFilter(void)
     _framesPerPrediction = uint8_t((EKF_TARGET_DT / (_frameTimeUsec * 1.0e-6) + 0.5));
 
     // initialise sources
-    _sources.init();
+    sources.init();
 
 #if APM_BUILD_TYPE(APM_BUILD_Replay)
     if (ins.get_accel_count() == 0) {
@@ -899,7 +899,7 @@ void NavEKF3::UpdateFilter(void)
     }
 
     // align position of inactive sources to ahrs
-    _sources.align_inactive_sources();
+    sources.align_inactive_sources();
 }
 
 /*
@@ -996,7 +996,7 @@ void NavEKF3::resetCoreErrors(void)
 // set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
 void NavEKF3::setPosVelYawSource(uint8_t source_set_idx)
 {
-    _sources.setPosVelYawSource(source_set_idx);
+    sources.setPosVelYawSource(source_set_idx);
 }
 
 // Check basic filter health metrics and return a consolidated health status
@@ -1012,7 +1012,7 @@ bool NavEKF3::healthy(void) const
 bool NavEKF3::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const
 {
     // check source configuration
-    if (!_sources.pre_arm_check(failure_msg, failure_msg_len)) {
+    if (!sources.pre_arm_check(failure_msg, failure_msg_len)) {
         return false;
     }
 
@@ -1319,7 +1319,7 @@ bool NavEKF3::setOriginLLH(const Location &loc)
     if (!core) {
         return false;
     }
-    if (_sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS) {
+    if (sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS) {
         // we don't allow setting of the EKF origin if using GPS to prevent
         // accidental setting of EKF origin with invalid position or height
         GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "EKF3 refusing set origin");
@@ -1601,7 +1601,7 @@ bool NavEKF3::getDataEKFGSF(int8_t instance, float &yaw_composite, float &yaw_co
 void NavEKF3::convert_parameters()
 {
     // exit immediately if param conversion has been done before
-    if (_sources.any_params_configured_in_storage()) {
+    if (sources.any_params_configured_in_storage()) {
         return;
     }
 

libraries/AP_NavEKF3/AP_NavEKF3.h

@@ -625,5 +625,5 @@ private:
     void Log_Write_GSF(uint8_t core, uint64_t time_us) const;
 
     // position, velocity and yaw source control
-    AP_NavEKF_Source _sources;
+    AP_NavEKF_Source sources;
 };

libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp

@@ -445,7 +445,7 @@ bool NavEKF3_core::readyToUseOptFlow(void) const
         return false;
     }
 
-    if (!frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::OPTFLOW)) {
+    if (!frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::OPTFLOW)) {
         return false;
     }
 
@@ -456,8 +456,8 @@ bool NavEKF3_core::readyToUseOptFlow(void) const
 // return true if the filter is ready to start using body frame odometry measurements
 bool NavEKF3_core::readyToUseBodyOdm(void) const
 {
-    if (!frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::EXTNAV) &&
-        !frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::WHEEL_ENCODER)) {
+    if (!frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::EXTNAV) &&
+        !frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::WHEEL_ENCODER)) {
         return false;
     }
 
@@ -477,7 +477,7 @@ bool NavEKF3_core::readyToUseBodyOdm(void) const
 // return true if the filter to be ready to use gps
 bool NavEKF3_core::readyToUseGPS(void) const
 {
-    if (frontend->_sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::GPS) {
+    if (frontend->sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::GPS) {
         return false;
     }
 
@@ -487,7 +487,7 @@ bool NavEKF3_core::readyToUseGPS(void) const
 // return true if the filter to be ready to use the beacon range measurements
 bool NavEKF3_core::readyToUseRangeBeacon(void) const
 {
-    if (frontend->_sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::BEACON) {
+    if (frontend->sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::BEACON) {
         return false;
     }
 
@@ -497,7 +497,7 @@ bool NavEKF3_core::readyToUseRangeBeacon(void) const
 // return true if the filter is ready to use external nav data
 bool NavEKF3_core::readyToUseExtNav(void) const
 {
-    if (frontend->_sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::EXTNAV) {
+    if (frontend->sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::EXTNAV) {
         return false;
     }
 
@@ -508,7 +508,7 @@ bool NavEKF3_core::readyToUseExtNav(void) const
 bool NavEKF3_core::use_compass(void) const
 {
     const auto *compass  = dal.get_compass();
-    const AP_NavEKF_Source::SourceYaw yaw_source = frontend->_sources.getYawSource();
+    const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
     if ((yaw_source != AP_NavEKF_Source::SourceYaw::COMPASS) &&
         (yaw_source != AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK)) {
         // not using compass as a yaw source
@@ -523,7 +523,7 @@ bool NavEKF3_core::use_compass(void) const
 // are we using a yaw source other than the magnetomer?
 bool NavEKF3_core::using_external_yaw(void) const
 {
-    const AP_NavEKF_Source::SourceYaw yaw_source = frontend->_sources.getYawSource();
+    const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
     if (yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL || yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK || !use_compass()) {
         return imuSampleTime_ms - last_gps_yaw_fusion_ms < 5000 || imuSampleTime_ms - lastSynthYawTime_ms < 5000;
     }
@@ -544,7 +544,7 @@ bool NavEKF3_core::assume_zero_sideslip(void) const
 // set the LLH location of the filters NED origin
 bool NavEKF3_core::setOriginLLH(const Location &loc)
 {
-    if ((PV_AidingMode == AID_ABSOLUTE) && (frontend->_sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS)) {
+    if ((PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS)) {
         // reject attempt to set origin if GPS is being used
         return false;
     }
@@ -590,7 +590,7 @@ void NavEKF3_core::checkGyroCalStatus(void)
 {
     // check delta angle bias variances
     const float delAngBiasVarMax = sq(radians(0.15f * dtEkfAvg));
-    const AP_NavEKF_Source::SourceYaw yaw_source = frontend->_sources.getYawSource();
+    const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
     if (!use_compass() && (yaw_source != AP_NavEKF_Source::SourceYaw::EXTERNAL) && (yaw_source != AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK)) {
         // rotate the variances into earth frame and evaluate horizontal terms only as yaw component is poorly observable without a yaw reference
         // which can make this check fail
@@ -633,7 +633,7 @@ void  NavEKF3_core::updateFilterStatus(void)
     bool filterHealthy = healthy() && tiltAlignComplete && (yawAlignComplete || (!use_compass() && (PV_AidingMode != AID_ABSOLUTE)));
 
     // If GPS height usage is specified, height is considered to be inaccurate until the GPS passes all checks
-    bool hgtNotAccurate = (frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::GPS) && !validOrigin;
+    bool hgtNotAccurate = (frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::GPS) && !validOrigin;
 
     // set individual flags
     filterStatus.flags.attitude = !stateStruct.quat.is_nan() && filterHealthy;   // attitude valid (we need a better check)
@@ -650,7 +650,7 @@ void  NavEKF3_core::updateFilterStatus(void)
     filterStatus.flags.takeoff = expectTakeoff; // The EKF has been told to expect takeoff is in a ground effect mitigation mode and has started the EKF-GSF yaw estimator
     filterStatus.flags.touchdown = expectGndEffectTouchdown; // The EKF has been told to detect touchdown and is in a ground effect mitigation mode
     filterStatus.flags.using_gps = ((imuSampleTime_ms - lastPosPassTime_ms) < 4000) && (PV_AidingMode == AID_ABSOLUTE);
-    filterStatus.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE) && (frontend->_sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS); // GPS glitching is affecting navigation accuracy
+    filterStatus.flags.gps_glitching = !gpsAccuracyGood && (PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS); // GPS glitching is affecting navigation accuracy
     filterStatus.flags.gps_quality_good = gpsGoodToAlign;
     filterStatus.flags.initalized = filterStatus.flags.initalized || healthy();
 }
@@ -663,8 +663,8 @@ void NavEKF3_core::runYawEstimatorPrediction()
     }
 
     // ensure GPS is used for horizontal position and velocity
-    if (frontend->_sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::GPS ||
-        !frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::GPS)) {
+    if (frontend->sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::GPS ||
+        !frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::GPS)) {
         return;
     }
 
@@ -689,8 +689,8 @@ void NavEKF3_core::runYawEstimatorCorrection()
         return;
     }
     // ensure GPS is used for horizontal position and velocity
-    if (frontend->_sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::GPS ||
-        !frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::GPS)) {
+    if (frontend->sources.getPosXYSource() != AP_NavEKF_Source::SourceXY::GPS ||
+        !frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::GPS)) {
         return;
     }
 

libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp

@@ -200,7 +200,7 @@ void NavEKF3_core::SelectMagFusion()
     magFusePerformed = false;
 
     // get default yaw source
-    const AP_NavEKF_Source::SourceYaw yaw_source = frontend->_sources.getYawSource();
+    const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
     if (yaw_source != yaw_source_last) {
         yaw_source_last = yaw_source;
         yaw_source_reset = true;

libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp

@@ -616,7 +616,7 @@ void NavEKF3_core::readGpsData()
             }
 
             // Check if GPS can output vertical velocity, vertical velocity use is permitted and set GPS fusion mode accordingly
-            if (gps.have_vertical_velocity(selected_gps) && frontend->_sources.useVelZSource(AP_NavEKF_Source::SourceZ::GPS) && !frontend->inhibitGpsVertVelUse) {
+            if (gps.have_vertical_velocity(selected_gps) && frontend->sources.useVelZSource(AP_NavEKF_Source::SourceZ::GPS) && !frontend->inhibitGpsVertVelUse) {
                 useGpsVertVel = true;
             } else {
                 useGpsVertVel = false;
@@ -1279,7 +1279,7 @@ float NavEKF3_core::MagDeclination(void) const
 */
 void NavEKF3_core::updateMovementCheck(void)
 {
-    const AP_NavEKF_Source::SourceYaw yaw_source = frontend->_sources.getYawSource();
+    const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
     const bool runCheck = onGround && (yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL || yaw_source == AP_NavEKF_Source::SourceYaw::EXTERNAL_COMPASS_FALLBACK || !use_compass());
     if (!runCheck)
     {

libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp

@@ -52,7 +52,7 @@ void NavEKF3_core::SelectFlowFusion()
 
     // Fuse optical flow data into the main filter
     if (flowDataToFuse && tiltOK) {
-        if ((frontend->_flowUse == FLOW_USE_NAV) && frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::OPTFLOW)) {
+        if ((frontend->_flowUse == FLOW_USE_NAV) && frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::OPTFLOW)) {
             // Set the flow noise used by the fusion processes
             R_LOS = sq(MAX(frontend->_flowNoise, 0.05f));
             // Fuse the optical flow X and Y axis data into the main filter sequentially

libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp

@@ -119,7 +119,7 @@ bool NavEKF3_core::getRangeBeaconDebug(uint8_t &ID, float &rng, float &innov, fl
 bool NavEKF3_core::getHeightControlLimit(float &height) const
 {
     // only ask for limiting if we are doing optical flow navigation
-    if (frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::OPTFLOW) && (PV_AidingMode == AID_RELATIVE) && flowDataValid) {
+    if (frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::OPTFLOW) && (PV_AidingMode == AID_RELATIVE) && flowDataValid) {
         // If are doing optical flow nav, ensure the height above ground is within range finder limits after accounting for vehicle tilt and control errors
         const auto *_rng = dal.rangefinder();
         if (_rng == nullptr) {
@@ -128,7 +128,7 @@ bool NavEKF3_core::getHeightControlLimit(float &height) const
         }
         height = MAX(float(_rng->max_distance_cm_orient(ROTATION_PITCH_270)) * 0.007f - 1.0f, 1.0f);
         // If we are are not using the range finder as the height reference, then compensate for the difference between terrain and EKF origin
-        if (frontend->_sources.getPosZSource() != AP_NavEKF_Source::SourceZ::RANGEFINDER) {
+        if (frontend->sources.getPosZSource() != AP_NavEKF_Source::SourceZ::RANGEFINDER) {
             height -= terrainState;
         }
         return true;

libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp

@@ -245,7 +245,7 @@ void NavEKF3_core::ResetHeight(void)
 
     // Reset the vertical velocity state using GPS vertical velocity if we are airborne
     // Check that GPS vertical velocity data is available and can be used
-    if (inFlight && !gpsNotAvailable && frontend->_sources.useVelZSource(AP_NavEKF_Source::SourceZ::GPS) && !frontend->inhibitGpsVertVelUse) {
+    if (inFlight && !gpsNotAvailable && frontend->sources.useVelZSource(AP_NavEKF_Source::SourceZ::GPS) && !frontend->inhibitGpsVertVelUse) {
         stateStruct.velocity.z =  gpsDataNew.vel.z;
     } else if (inFlight && useExtNavVel && (activeHgtSource == AP_NavEKF_Source::SourceZ::EXTNAV)) {
         stateStruct.velocity.z = extNavVelDelayed.vel.z;
@@ -448,7 +448,7 @@ void NavEKF3_core::SelectVelPosFusion()
     }
 
     // detect position source changes.  Trigger position reset if position source is valid
-    AP_NavEKF_Source::SourceXY pos_source = frontend->_sources.getPosXYSource();
+    AP_NavEKF_Source::SourceXY pos_source = frontend->sources.getPosXYSource();
     if (pos_source != pos_source_last) {
         pos_source_reset = (pos_source != AP_NavEKF_Source::SourceXY::NONE);
         pos_source_last = pos_source;
@@ -459,10 +459,10 @@ void NavEKF3_core::SelectVelPosFusion()
     fuseVelData = false;
 
     // Determine if we need to fuse position and velocity data on this time step
-    if (gpsDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->_sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS)) {
+    if (gpsDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS)) {
 
         // Don't fuse velocity data if GPS doesn't support it
-        fuseVelData = frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::GPS);
+        fuseVelData = frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::GPS);
         fusePosData = true;
         extNavUsedForPos = false;
 
@@ -475,7 +475,7 @@ void NavEKF3_core::SelectVelPosFusion()
         }
         velPosObs[3] = gpsDataDelayed.pos.x;
         velPosObs[4] = gpsDataDelayed.pos.y;
-    } else if (extNavDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->_sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::EXTNAV)) {
+    } else if (extNavDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::EXTNAV)) {
         // use external nav system for horizontal position
         extNavUsedForPos = true;
         fusePosData = true;
@@ -485,7 +485,7 @@ void NavEKF3_core::SelectVelPosFusion()
 
     // fuse external navigation velocity data if available
     // extNavVelDelayed is already corrected for sensor position
-    if (extNavVelToFuse && frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::EXTNAV)) {
+    if (extNavVelToFuse && frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::EXTNAV)) {
         fuseVelData = true;
         velPosObs[0] = extNavVelDelayed.vel.x;
         velPosObs[1] = extNavVelDelayed.vel.y;
@@ -501,7 +501,7 @@ void NavEKF3_core::SelectVelPosFusion()
     selectHeightForFusion();
 
     // if we are using GPS, check for a change in receiver and reset position and height
-    if (gpsDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->_sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS) && (gpsDataDelayed.sensor_idx != last_gps_idx || pos_source_reset)) {
+    if (gpsDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::GPS) && (gpsDataDelayed.sensor_idx != last_gps_idx || pos_source_reset)) {
         // mark a source reset as consumed
         pos_source_reset = false;
 
@@ -518,7 +518,7 @@ void NavEKF3_core::SelectVelPosFusion()
     }
 
     // check for external nav position reset
-    if (extNavDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->_sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::EXTNAV) && (extNavDataDelayed.posReset || pos_source_reset)) {
+    if (extNavDataToFuse && (PV_AidingMode == AID_ABSOLUTE) && (frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::EXTNAV) && (extNavDataDelayed.posReset || pos_source_reset)) {
         // mark a source reset as consumed
         pos_source_reset = false;
         ResetPositionNE(extNavDataDelayed.pos.x, extNavDataDelayed.pos.y);
@@ -658,7 +658,7 @@ void NavEKF3_core::FuseVelPosNED()
         // if vertical GPS velocity data and an independent height source is being used, check to see if the GPS vertical velocity and altimeter
         // innovations have the same sign and are outside limits. If so, then it is likely aliasing is affecting
         // the accelerometers and we should disable the GPS and barometer innovation consistency checks.
-        if (useGpsVertVel && fuseVelData && (frontend->_sources.getPosZSource() != AP_NavEKF_Source::SourceZ::GPS)) {
+        if (useGpsVertVel && fuseVelData && (frontend->sources.getPosZSource() != AP_NavEKF_Source::SourceZ::GPS)) {
             // calculate innovations for height and vertical GPS vel measurements
             const float hgtErr  = stateStruct.position.z - velPosObs[5];
             const float velDErr = stateStruct.velocity.z - velPosObs[2];
@@ -720,7 +720,7 @@ void NavEKF3_core::FuseVelPosNED()
             // test velocity measurements
             uint8_t imax = 2;
             // Don't fuse vertical velocity observations if inhibited by the user or if we are using synthetic data
-            if ((!frontend->_sources.haveVelZSource() || PV_AidingMode != AID_ABSOLUTE || frontend->inhibitGpsVertVelUse) && !useExtNavVel) {
+            if ((!frontend->sources.haveVelZSource() || PV_AidingMode != AID_ABSOLUTE || frontend->inhibitGpsVertVelUse) && !useExtNavVel) {
                 imax = 1;
             }
             float innovVelSumSq = 0; // sum of squares of velocity innovations
@@ -993,13 +993,13 @@ void NavEKF3_core::selectHeightForFusion()
     bool rangeFinderDataIsFresh = (imuSampleTime_ms - rngValidMeaTime_ms < 500);
     const bool extNavDataIsFresh = (imuSampleTime_ms - extNavMeasTime_ms < 500);
     // select height source
-    if (extNavUsedForPos && (frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::EXTNAV)) {
+    if (extNavUsedForPos && (frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::EXTNAV)) {
         // always use external navigation as the height source if using for position.
         activeHgtSource = AP_NavEKF_Source::SourceZ::EXTNAV;
-    } else if ((frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::RANGEFINDER) && _rng && rangeFinderDataIsFresh) {
+    } else if ((frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::RANGEFINDER) && _rng && rangeFinderDataIsFresh) {
         // user has specified the range finder as a primary height source
         activeHgtSource = AP_NavEKF_Source::SourceZ::RANGEFINDER;
-    } else if ((frontend->_useRngSwHgt > 0) && ((frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::BARO) || (frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::GPS)) && _rng && rangeFinderDataIsFresh) {
+    } else if ((frontend->_useRngSwHgt > 0) && ((frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::BARO) || (frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::GPS)) && _rng && rangeFinderDataIsFresh) {
         // determine if we are above or below the height switch region
         float rangeMaxUse = 1e-4f * (float)_rng->max_distance_cm_orient(ROTATION_PITCH_270) * (float)frontend->_useRngSwHgt;
         bool aboveUpperSwHgt = (terrainState - stateStruct.position.z) > rangeMaxUse;
@@ -1028,22 +1028,22 @@ void NavEKF3_core::selectHeightForFusion()
         */
         if ((aboveUpperSwHgt || dontTrustTerrain) && (activeHgtSource == AP_NavEKF_Source::SourceZ::RANGEFINDER)) {
             // cannot trust terrain or range finder so stop using range finder height
-            if (frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::BARO) {
+            if (frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::BARO) {
                 activeHgtSource = AP_NavEKF_Source::SourceZ::BARO;
-            } else if (frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::GPS) {
+            } else if (frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::GPS) {
                 activeHgtSource = AP_NavEKF_Source::SourceZ::GPS;
             }
         } else if (belowLowerSwHgt && trustTerrain && (prevTnb.c.z >= 0.7f)) {
             // reliable terrain and range finder so start using range finder height
             activeHgtSource = AP_NavEKF_Source::SourceZ::RANGEFINDER;
         }
-    } else if (frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::BARO) {
+    } else if (frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::BARO) {
         activeHgtSource = AP_NavEKF_Source::SourceZ::BARO;
-    } else if ((frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::GPS) && ((imuSampleTime_ms - lastTimeGpsReceived_ms) < 500) && validOrigin && gpsAccuracyGood) {
+    } else if ((frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::GPS) && ((imuSampleTime_ms - lastTimeGpsReceived_ms) < 500) && validOrigin && gpsAccuracyGood) {
         activeHgtSource = AP_NavEKF_Source::SourceZ::GPS;
-    } else if ((frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::BEACON) && validOrigin && rngBcnGoodToAlign) {
+    } else if ((frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::BEACON) && validOrigin && rngBcnGoodToAlign) {
         activeHgtSource = AP_NavEKF_Source::SourceZ::BEACON;
-    } else if ((frontend->_sources.getPosZSource() == AP_NavEKF_Source::SourceZ::EXTNAV) && extNavDataIsFresh) {
+    } else if ((frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::EXTNAV) && extNavDataIsFresh) {
         activeHgtSource = AP_NavEKF_Source::SourceZ::EXTNAV;
     }
 
@@ -1807,7 +1807,7 @@ void NavEKF3_core::SelectBodyOdomFusion()
 
     // Check for body odometry data (aka visual position delta) at the fusion time horizon
     const bool bodyOdomDataToFuse = storedBodyOdm.recall(bodyOdmDataDelayed, imuDataDelayed.time_ms);
-    if (bodyOdomDataToFuse && frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::EXTNAV)) {
+    if (bodyOdomDataToFuse && frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::EXTNAV)) {
 
         // Fuse data into the main filter
         FuseBodyVel();
@@ -1815,7 +1815,7 @@ void NavEKF3_core::SelectBodyOdomFusion()
 
     // Check for wheel encoder data at the fusion time horizon
     const bool wheelOdomDataToFuse = storedWheelOdm.recall(wheelOdmDataDelayed, imuDataDelayed.time_ms);
-    if (wheelOdomDataToFuse && frontend->_sources.useVelXYSource(AP_NavEKF_Source::SourceXY::WHEEL_ENCODER)) {
+    if (wheelOdomDataToFuse && frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::WHEEL_ENCODER)) {
 
         // check if the delta time is too small to calculate a velocity
         if (wheelOdmDataDelayed.delTime > EKF_TARGET_DT) {

libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp

@@ -14,7 +14,7 @@ void NavEKF3_core::SelectRngBcnFusion()
     // Determine if we need to fuse range beacon data on this time step
     if (rngBcnDataToFuse) {
         if (PV_AidingMode == AID_ABSOLUTE) {
-            if ((frontend->_sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::BEACON) && rngBcnAlignmentCompleted) {
+            if ((frontend->sources.getPosXYSource() == AP_NavEKF_Source::SourceXY::BEACON) && rngBcnAlignmentCompleted) {
                 if (!bcnOriginEstInit) {
                     bcnOriginEstInit = true;
                     bcnPosOffsetNED.x = receiverPos.x - stateStruct.position.x;

libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp

@@ -83,14 +83,14 @@ void NavEKF3_core::calcGpsGoodToAlign(void)
         gpsVertVelFilt = 0.1f * gpsDataNew.vel.z + 0.9f * gpsVertVelFilt;
         gpsVertVelFilt = constrain_float(gpsVertVelFilt,-10.0f,10.0f);
         gpsVertVelFail = (fabsf(gpsVertVelFilt) > 0.3f*checkScaler) && (frontend->_gpsCheck & MASK_GPS_VERT_SPD);
-    } else if (frontend->_sources.useVelZSource(AP_NavEKF_Source::SourceZ::GPS) && !gps.have_vertical_velocity(preferred_gps)) {
+    } else if (frontend->sources.useVelZSource(AP_NavEKF_Source::SourceZ::GPS) && !gps.have_vertical_velocity(preferred_gps)) {
         // If the EKF settings require vertical GPS velocity and the receiver is not outputting it, then fail
         gpsVertVelFail = true;
         // if we have a 3D fix with no vertical velocity and
         // EK3_GPS_TYPE=0 then change it to 1. It means the GPS is not
         // capable of giving a vertical velocity
         if (gps.status(preferred_gps) >= AP_DAL_GPS::GPS_OK_FIX_3D) {
-            frontend->_sources.setVelZSource(AP_NavEKF_Source::SourceZ::NONE);
+            frontend->sources.setVelZSource(AP_NavEKF_Source::SourceZ::NONE);
             GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "EK3: Changed EK3_GPS_TYPE to 1");
         }
     } else {

libraries/AP_NavEKF3/AP_NavEKF3_core.cpp

@@ -46,7 +46,7 @@ bool NavEKF3_core::setup_core(uint8_t _imu_index, uint8_t _core_index)
                                   ))));
 
     // GPS sensing can have large delays and should not be included if disabled
-    if (frontend->_sources.usingGPS()) {
+    if (frontend->sources.usingGPS()) {
         // Wait for the configuration of all GPS units to be confirmed. Until this has occurred the GPS driver cannot provide a correct time delay
         float gps_delay_sec = 0;
         if (!dal.gps().get_lag(selected_gps, gps_delay_sec)) {
@@ -535,8 +535,8 @@ bool NavEKF3_core::InitialiseFilterBootstrap(void)
     ResetHeight();
 
     // initialise sources
-    pos_source_last = frontend->_sources.getPosXYSource();
-    yaw_source_last = frontend->_sources.getYawSource();
+    pos_source_last = frontend->sources.getPosXYSource();
+    yaw_source_last = frontend->sources.getYawSource();
 
     // define Earth rotation vector in the NED navigation frame
     calcEarthRateNED(earthRateNED, dal.get_home().lat);