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Rover: Add EKF3 and remove EKF1

This commit is contained in:
priseborough 2016-11-28 20:49:35 +11:00 committed by Andrew Tridgell
parent 38a0e8a6ae
commit 2facebff80
3 changed files with 14 additions and 13 deletions
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16
APMrover2/Parameters.cpp
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@ -535,15 +535,15 @@ const AP_Param::Info Rover::var_info[] = {
// @Path: ../libraries/AP_GPS/AP_GPS.cpp
GOBJECT(gps, "GPS_", AP_GPS),
#if AP_AHRS_NAVEKF_AVAILABLE
// @Group: EKF_
// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
#if AP_AHRS_NAVEKF_AVAILABLE
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
#endif
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp

5
APMrover2/Parameters.h
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@ -81,11 +81,12 @@ public:
//
k_param_compass_enabled = 130,
k_param_steering_learn, // unused
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library
k_param_NavEKF2_old, // deprecated
k_param_NavEKF2_old, // deprecated - remove
k_param_NavEKF2,
k_param_g2, // 2nd block of parameters
k_param_NavEKF3,
// 140: battery controls
k_param_battery_monitoring = 140, // deprecated, can be deleted

6
APMrover2/Rover.h
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@ -34,8 +34,8 @@
#include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
#include <AP_AHRS/AP_AHRS.h> // ArduPilot Mega DCM Library
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include <AP_Mission/AP_Mission.h> // Mission command library
#include <AP_Rally/AP_Rally.h>
#include <AP_Terrain/AP_Terrain.h>
@ -143,9 +143,9 @@ private:
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF EKF{&ahrs, barometer, sonar};
NavEKF2 EKF2{&ahrs, barometer, sonar};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, sonar, EKF, EKF2};
NavEKF3 EKF3{&ahrs, barometer, sonar};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, sonar, EKF2, EKF3};
#else
AP_AHRS_DCM ahrs {ins, barometer, gps};
#endif