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Tracker: added EKF2 instance

This commit is contained in:
Andrew Tridgell 2015-09-23 11:51:47 +10:00
parent 7ba45444a2
commit 277f2f3b27
1 changed files with 3 additions and 1 deletions
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4
AntennaTracker/Tracker.h
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@ -55,6 +55,7 @@
#include <PID/PID.h> #include <PID/PID.h>
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler #include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_NavEKF/AP_NavEKF.h> #include <AP_NavEKF/AP_NavEKF.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Mission/AP_Mission.h> #include <AP_Mission/AP_Mission.h>
@ -119,7 +120,8 @@ private:
// Inertial Navigation EKF // Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
NavEKF EKF{&ahrs, barometer, rng}; NavEKF EKF{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF}; NavEKF2 EKF2{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF, EKF2};
#else #else
AP_AHRS_DCM ahrs{ins, barometer, gps}; AP_AHRS_DCM ahrs{ins, barometer, gps};
#endif #endif