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Sub: EKF objects have moved into AP_AHRS_NavEKF

This commit is contained in:
Peter Barker 2019-12-10 21:46:02 +11:00 committed by Andrew Tridgell
parent 9364181772
commit 4ecb602def
2 changed files with 6 additions and 6 deletions
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4
ArduSub/Parameters.cpp
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@ -548,11 +548,11 @@ const AP_Param::Info Sub::var_info[] = {
// @Group: EK2_ // @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2), GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
// @Group: EK3_ // @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3), GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
// @Group: MIS_ // @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp // @Path: ../libraries/AP_Mission/AP_Mission.cpp

8
ArduSub/system.cpp
View File

@ -154,11 +154,11 @@ void Sub::init_ardupilot()
// We only have onboard baro // We only have onboard baro
// No external underwater depth sensor detected // No external underwater depth sensor detected
barometer.set_primary_baro(0); barometer.set_primary_baro(0);
EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS ahrs.EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS
EKF3.set_baro_alt_noise(10.0f); ahrs.EKF3.set_baro_alt_noise(10.0f);
} else { } else {
EKF2.set_baro_alt_noise(0.1f); ahrs.EKF2.set_baro_alt_noise(0.1f);
EKF3.set_baro_alt_noise(0.1f); ahrs.EKF3.set_baro_alt_noise(0.1f);
} }
leak_detector.init(); leak_detector.init();