AC_PrecLand: replace AP_InertialNav by AHRS

libraries/AC_PrecLand/AC_PrecLand.cpp

@@ -97,9 +97,8 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
 // Note that the Vector/Matrix constructors already implicitly zero
 // their values.
 //
-AC_PrecLand::AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav) :
+AC_PrecLand::AC_PrecLand(const AP_AHRS_NavEKF& ahrs) :
     _ahrs(ahrs),
-    _inav(inav),
     _last_update_ms(0),
     _target_acquired(false),
     _last_backend_los_meas_ms(0),
@@ -161,8 +160,16 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid)
     struct inertial_data_frame_s inertial_data_newest;
     _ahrs.getCorrectedDeltaVelocityNED(inertial_data_newest.correctedVehicleDeltaVelocityNED, inertial_data_newest.dt);
     inertial_data_newest.Tbn = _ahrs.get_rotation_body_to_ned();
-    inertial_data_newest.inertialNavVelocity = _inav.get_velocity()*0.01f;
-    inertial_data_newest.inertialNavVelocityValid = _inav.get_filter_status().flags.horiz_vel;
+    Vector3f curr_vel;
+    nav_filter_status status;
+    if (!_ahrs.get_velocity_NED(curr_vel) || !_ahrs.get_filter_status(status)) {
+        inertial_data_newest.inertialNavVelocityValid = false;
+    } else {
+        inertial_data_newest.inertialNavVelocityValid = status.flags.horiz_vel;
+    }
+    curr_vel.z = -curr_vel.z;  // NED to NEU
+    inertial_data_newest.inertialNavVelocity = curr_vel;
+
     _inertial_history.push_back(inertial_data_newest);
 
     // update estimator of target position
@@ -183,8 +190,12 @@ bool AC_PrecLand::get_target_position_cm(Vector2f& ret)
     if (!target_acquired()) {
         return false;
     }
-    ret.x = _target_pos_rel_out_NE.x*100.0f + _inav.get_position().x;
-    ret.y = _target_pos_rel_out_NE.y*100.0f + _inav.get_position().y;
+    Vector2f curr_pos;
+    if (!_ahrs.get_relative_position_NE_origin(curr_pos)) {
+        return false;
+    }
+    ret.x = (_target_pos_rel_out_NE.x + curr_pos.x) * 100.0f;   // m to cm
+    ret.y = (_target_pos_rel_out_NE.y  + curr_pos.y) * 100.0f;  // m to cm
     return true;
 }
 

libraries/AC_PrecLand/AC_PrecLand.h

@@ -2,11 +2,11 @@
 
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
-#include <AP_InertialNav/AP_InertialNav.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <stdint.h>
 #include "PosVelEKF.h"
 #include <AP_Buffer/AP_Buffer.h>
+#include <AP_AHRS/AP_AHRS.h>
 
 // declare backend classes
 class AC_PrecLand_Backend;
@@ -25,7 +25,7 @@ class AC_PrecLand
     friend class AC_PrecLand_SITL;
 
 public:
-    AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav);
+    AC_PrecLand(const AP_AHRS_NavEKF& ahrs);
 
     /* Do not allow copies */
     AC_PrecLand(const AC_PrecLand &other) = delete;
@@ -103,8 +103,7 @@ private:
     void run_output_prediction();
 
     // references to inertial nav and ahrs libraries
-    const AP_AHRS&              _ahrs;
-    const AP_InertialNav&       _inav;
+    const AP_AHRS_NavEKF&       _ahrs;
 
     // parameters
     AP_Int8                     _enabled;           // enabled/disabled and behaviour

libraries/AC_PrecLand/AC_PrecLand_Backend.h

@@ -3,7 +3,6 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 #include <AC_PID/AC_PID.h>
-#include <AP_InertialNav/AP_InertialNav.h>
 #include "AC_PrecLand.h"
 
 class AC_PrecLand_Backend