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Copter: explicitly ask for always using EKF

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When instantiating AP_AHRS_NavEKF for ArduCopter, explicitly pass the
flag to always use the EKF.

The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-10-13 15:13:59 -03:00 committed by Andrew Tridgell
parent 9d2e3157fe
commit 05ae7858e8
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/Copter.h
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@ -183,7 +183,7 @@ private:
// Inertial Navigation EKF
NavEKF EKF{&ahrs, barometer, sonar};
NavEKF2 EKF2{&ahrs, barometer, sonar};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF, EKF2};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF, EKF2, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL sitl;