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AntennaTracker: Add EKF3 and remove EKF1

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This commit is contained in:
Andrew Tridgell 2016-07-14 15:08:43 +10:00
parent b00ec26957
commit 33943de4a0
1 changed files with 3 additions and 3 deletions
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6
AntennaTracker/Tracker.h
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@ -46,8 +46,8 @@
#include <DataFlash/DataFlash.h> #include <DataFlash/DataFlash.h>
#include <AC_PID/AC_PID.h> #include <AC_PID/AC_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_NavEKF2/AP_NavEKF2.h> #include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF3/AP_NavEKF3.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>
@ -114,9 +114,9 @@ private:
// Inertial Navigation EKF // Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
NavEKF EKF{&ahrs, barometer, rng};
NavEKF2 EKF2{&ahrs, barometer, rng}; NavEKF2 EKF2{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF, EKF2}; NavEKF3 EKF3{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF2, EKF3};
#else #else
AP_AHRS_DCM ahrs{ins, barometer, gps}; AP_AHRS_DCM ahrs{ins, barometer, gps};
#endif #endif