From 0f8d0ef11b14d4a024106dbe33dd48db9e4f7584 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 17 Nov 2020 14:11:02 +0900
Subject: [PATCH] AP_NavEKF3: move sources to 2nd bank of parameters

---
 libraries/AP_NavEKF3/AP_NavEKF3.cpp | 13 +++++++++++--
 libraries/AP_NavEKF3/AP_NavEKF3.h   |  1 +
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index ad0e6ab3b5..276b1c9105 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -640,9 +640,17 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
     // @RebootRequired: True
     AP_GROUPINFO("AFFINITY", 62, NavEKF3, _affinity, 0),
 
-    // @Group: SRC_
+    AP_SUBGROUPEXTENSION("", 63, NavEKF3, var_info2),
+
+    AP_GROUPEND
+};
+
+// second table of parameters. allows us to go beyond the 64 parameter limit
+const AP_Param::GroupInfo NavEKF3::var_info2[] = {
+
+    // @Group: SRC
     // @Path: ../AP_NavEKF/AP_NavEKF_Source.cpp
-    AP_SUBGROUPINFO(sources, "SRC", 63, NavEKF3, AP_NavEKF_Source),
+    AP_SUBGROUPINFO(sources, "SRC", 1, NavEKF3, AP_NavEKF_Source),
 
     AP_GROUPEND
 };
@@ -650,6 +658,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
 NavEKF3::NavEKF3()
 {
     AP_Param::setup_object_defaults(this, var_info);
+    AP_Param::setup_object_defaults(this, var_info2);
 }
 
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
index 9dfb30d151..a507de710f 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -39,6 +39,7 @@ public:
     NavEKF3 &operator=(const NavEKF3&) = delete;
 
     static const struct AP_Param::GroupInfo var_info[];
+    static const struct AP_Param::GroupInfo var_info2[];
 
     // allow logging to determine the number of active cores
     uint8_t activeCores(void) const {