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https://github.com/ArduPilot/ardupilot
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AP_NavEKF2: correct includes
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@ -1,11 +1,9 @@
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#include <AP_HAL/AP_HAL.h>
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#include "AP_NavEKF2_core.h"
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_VisualOdom/AP_VisualOdom.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <new>
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/*
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@ -3,9 +3,6 @@
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#include "AP_NavEKF2.h"
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#include "AP_NavEKF2_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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@ -3,9 +3,7 @@
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#include "AP_NavEKF2.h"
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#include "AP_NavEKF2_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_GPS/AP_GPS.h>
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#include <stdio.h>
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@ -580,4 +578,4 @@ void NavEKF2_core::runYawEstimatorCorrection()
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void NavEKF2_core::EKFGSF_requestYawReset()
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{
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EKFGSF_yaw_reset_request_ms = imuSampleTime_ms;
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}
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}
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@ -2,12 +2,8 @@
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#include "AP_NavEKF2.h"
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#include "AP_NavEKF2_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <GCS_MAVLink/GCS.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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/********************************************************
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@ -1,6 +1,5 @@
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#include <AP_HAL/AP_HAL.h>
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#include "AP_NavEKF2.h"
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#include "AP_NavEKF2_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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@ -11,8 +10,6 @@
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#include <AP_Baro/AP_Baro.h>
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#include <AP_Compass/AP_Compass.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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@ -2,10 +2,6 @@
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#include "AP_NavEKF2.h"
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#include "AP_NavEKF2_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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@ -1,14 +1,10 @@
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#include <AP_HAL/AP_HAL.h>
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#include "AP_NavEKF2.h"
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#include "AP_NavEKF2_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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@ -2,8 +2,6 @@
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#include "AP_NavEKF2.h"
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#include "AP_NavEKF2_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_RangeFinder/AP_RangeFinder_Backend.h>
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#include <AP_GPS/AP_GPS.h>
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@ -1,14 +1,5 @@
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#include <AP_HAL/AP_HAL.h>
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#include "AP_NavEKF2.h"
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#include "AP_NavEKF2_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <GCS_MAVLink/GCS.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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/********************************************************
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* FUSE MEASURED_DATA *
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@ -1,14 +1,11 @@
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#include <AP_HAL/AP_HAL.h>
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#include "AP_NavEKF2.h"
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#include "AP_NavEKF2_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_GPS/AP_GPS.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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@ -3,12 +3,9 @@
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#include "AP_NavEKF2.h"
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#include "AP_NavEKF2_core.h"
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_GPS/AP_GPS.h>
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#include <stdio.h>
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extern const AP_HAL::HAL& hal;
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#define earthRate 0.000072921f // earth rotation rate (rad/sec)
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@ -29,12 +29,12 @@
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#include <AP_Common/Location.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_NavEKF2.h"
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#include <stdio.h>
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#include <AP_Math/vectorN.h>
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#include <AP_NavEKF/AP_NavEKF_core_common.h>
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#include <AP_NavEKF2/AP_NavEKF2_Buffer.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include "AP_NavEKF/EKFGSF_yaw.h"
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// GPS pre-flight check bit locations
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@ -72,7 +72,7 @@ class NavEKF2_core : public NavEKF_core_common
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{
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public:
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// Constructor
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NavEKF2_core(NavEKF2 *_frontend);
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NavEKF2_core(class NavEKF2 *_frontend);
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// setup this core backend
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bool setup_core(uint8_t _imu_index, uint8_t _core_index);
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@ -363,7 +363,7 @@ private:
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EKFGSF_yaw *yawEstimator;
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// Reference to the global EKF frontend for parameters
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NavEKF2 *frontend;
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class NavEKF2 *frontend;
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uint8_t imu_index; // preferred IMU index
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uint8_t gyro_index_active; // active gyro index (in case preferred fails)
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uint8_t accel_index_active; // active accel index (in case preferred fails)
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