[ahrs] start getting rid of global ahrs.state

sw/airborne/firmwares/rotorcraft/autopilot.c

@@ -92,7 +92,10 @@ bool_t   autopilot_detect_ground_once;
 #include "subsystems/ahrs.h"
 static inline int ahrs_is_aligned(void)
 {
-  return (ahrs.status == AHRS_RUNNING);
+  /* FIXME: proper ahrs status management
+   * maybe use one global AhrsStatus enum again that all implementations need to use
+   */
+  return (DefaultAhrsImpl.status == AHRS_MLKF_RUNNING);
 }
 #else
 PRINT_CONFIG_MSG("Using AUTOPILOT_DISABLE_AHRS_KILL")

sw/airborne/firmwares/rotorcraft/main.c

@@ -374,11 +374,8 @@ static inline void on_gyro_event( void ) {
   AbiSendMsgIMU_GYRO_INT32(1, &now_ts, &imu.gyro_prev);
 
 #if USE_AHRS_ALIGNER
-  if (ahrs.status != AHRS_RUNNING) {
+  if (ahrs_aligner.status != AHRS_ALIGNER_LOCKED) {
     ahrs_aligner_run();
-    if (ahrs_aligner.status == AHRS_ALIGNER_LOCKED) {
-      ahrs.status = AHRS_RUNNING;
-    }
     return;
   }
 #endif

sw/airborne/subsystems/ahrs.c

@@ -26,7 +26,6 @@
 
 
 #include "subsystems/ahrs.h"
-#include "subsystems/imu.h"
 
 struct Ahrs ahrs;
 
@@ -36,20 +35,17 @@ void ahrs_register_impl(AhrsInit init, AhrsUpdateGps update_gps)
   ahrs.update_gps = update_gps;
 
   ahrs.init();
-
-  ahrs.status = AHRS_REGISTERED;
 }
 
 void ahrs_init(void)
 {
-  ahrs.status = AHRS_UNINIT;
   ahrs.init = NULL;
   ahrs.update_gps = NULL;
 }
 
 void ahrs_update_gps(void)
 {
-  if (ahrs.update_gps != NULL && ahrs.status == AHRS_RUNNING) {
+  if (ahrs.update_gps != NULL) {
     ahrs.update_gps();
   }
 }

sw/airborne/subsystems/ahrs.h

@@ -28,13 +28,6 @@
 #define AHRS_H
 
 #include "std.h"
-#include "math/pprz_algebra_int.h"
-#include "math/pprz_algebra_float.h"
-#include "math/pprz_orientation_conversion.h"
-
-#define AHRS_UNINIT     0
-#define AHRS_REGISTERED 1
-#define AHRS_RUNNING    2
 
 /* underlying includes (needed for parameters) */
 #ifdef AHRS_TYPE_H
@@ -46,8 +39,6 @@ typedef void (*AhrsUpdateGps)(void);
 
 /** Attitude and Heading Reference System state */
 struct Ahrs {
-  uint8_t status; ///< status of the AHRS, AHRS_UNINIT or AHRS_RUNNING
-
   /* function pointers to actual implementation, set by ahrs_register_impl */
   AhrsInit init;
   AhrsUpdateGps update_gps;