From 414c7e0b522e3096cfc597562b23f03a6f5df1ab Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 4 Oct 2023 19:33:15 +1100 Subject: [PATCH] Tracker: enable EK2 and EK3 parameters --- AntennaTracker/Parameters.cpp | 12 ++++++++++++ AntennaTracker/Parameters.h | 2 ++ 2 files changed, 14 insertions(+) diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp index 2b146ef519..40b22e682e 100644 --- a/AntennaTracker/Parameters.cpp +++ b/AntennaTracker/Parameters.cpp @@ -541,6 +541,18 @@ const AP_Param::Info Tracker::var_info[] = { // @Path: ../libraries/AP_Logger/AP_Logger.cpp GOBJECT(logger, "LOG", AP_Logger), +#if HAL_NAVEKF2_AVAILABLE + // @Group: EK2_ + // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp + GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2), +#endif + +#if HAL_NAVEKF3_AVAILABLE + // @Group: EK3_ + // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp + GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3), +#endif + AP_VAREND }; diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h index a3192e24b5..972c36f525 100644 --- a/AntennaTracker/Parameters.h +++ b/AntennaTracker/Parameters.h @@ -130,6 +130,8 @@ public: k_param_disarm_pwm, k_param_auto_opts, + k_param_NavEKF2, + k_param_NavEKF3, k_param_logger = 253, // 253 - Logging Group