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ArduPlane: Add EKF3 and remove EKF1

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priseborough 2016-08-14 19:46:24 +10:00 committed by Andrew Tridgell
parent c3b9dbf5c8
commit 38a0e8a6ae
3 changed files with 10 additions and 9 deletions
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8
ArduPlane/Parameters.cpp
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@ -1222,13 +1222,13 @@ const AP_Param::Info Plane::var_info[] = {
GOBJECT(rally, "RALLY_", AP_Rally), GOBJECT(rally, "RALLY_", AP_Rally),
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
// @Group: EKF_
// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
// @Group: EK2_ // @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2), GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
#endif #endif
// @Group: RPM // @Group: RPM

5
ArduPlane/Parameters.h
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@ -52,6 +52,7 @@ public:
k_param_g2, k_param_g2,
k_param_avoidance_adsb, k_param_avoidance_adsb,
k_param_landing, k_param_landing,
k_param_NavEKF3,
// Misc // Misc
// //
@ -202,10 +203,10 @@ public:
k_param_barometer, // barometer ground calibration k_param_barometer, // barometer ground calibration
k_param_airspeed, // AP_Airspeed parameters k_param_airspeed, // AP_Airspeed parameters
k_param_curr_amp_offset, k_param_curr_amp_offset,
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library k_param_mission, // mission library
k_param_serial_manager, // serial manager library k_param_serial_manager, // serial manager library
k_param_NavEKF2_old, // deprecated k_param_NavEKF2_old, // deprecated - remove
k_param_land_pre_flare_alt, // unused - moved to AP_Landing k_param_land_pre_flare_alt, // unused - moved to AP_Landing
k_param_land_pre_flare_airspeed = 149, // unused - moved to AP_Landing k_param_land_pre_flare_airspeed = 149, // unused - moved to AP_Landing

6
ArduPlane/Plane.h
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@ -72,8 +72,8 @@
#include <AP_Vehicle/AP_Vehicle.h> #include <AP_Vehicle/AP_Vehicle.h>
#include <AP_SpdHgtControl/AP_SpdHgtControl.h> #include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#include <AP_TECS/AP_TECS.h> #include <AP_TECS/AP_TECS.h>
#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_Mission/AP_Mission.h> // Mission command library #include <AP_Mission/AP_Mission.h> // Mission command library
#include <AP_Notify/AP_Notify.h> // Notify library #include <AP_Notify/AP_Notify.h> // Notify library
@ -226,9 +226,9 @@ private:
// Inertial Navigation EKF // Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
NavEKF EKF{&ahrs, barometer, rangefinder};
NavEKF2 EKF2{&ahrs, barometer, rangefinder}; NavEKF2 EKF2{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF, EKF2}; NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF2, EKF3};
#else #else
AP_AHRS_DCM ahrs {ins, barometer, gps}; AP_AHRS_DCM ahrs {ins, barometer, gps};
#endif #endif