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AP_AHRS: allow override of default EKF type

This commit is contained in:
Andrew Tridgell 2021-01-14 09:43:27 +11:00
parent 009cb8f62b
commit 1ce77111e5
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_AHRS/AP_AHRS.cpp
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@ -24,6 +24,10 @@
extern const AP_HAL::HAL& hal;
#ifndef HAL_AHRS_EKF_TYPE_DEFAULT
#define HAL_AHRS_EKF_TYPE_DEFAULT 3
#endif
// table of user settable parameters
const AP_Param::GroupInfo AP_AHRS::var_info[] = {
// index 0 and 1 are for old parameters that are no longer not used
@ -127,9 +131,9 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = {
// @Param: EKF_TYPE
// @DisplayName: Use NavEKF Kalman filter for attitude and position estimation
// @Description: This controls which NavEKF Kalman filter version is used for attitude and position estimation
// @Values: 0:Disabled,2:Enable EKF2,3:Enable EKF3
// @Values: 0:Disabled,2:Enable EKF2,3:Enable EKF3,11:ExternalAHRS
// @User: Advanced
AP_GROUPINFO("EKF_TYPE", 14, AP_AHRS, _ekf_type, 3),
AP_GROUPINFO("EKF_TYPE", 14, AP_AHRS, _ekf_type, HAL_AHRS_EKF_TYPE_DEFAULT),
#endif
// @Param: CUSTOM_ROLL