Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Rover: EKF objects have moved into AP_AHRS_NavEKF

This commit is contained in:
Peter Barker 2019-12-10 21:45:39 +11:00 committed by Andrew Tridgell
parent 373b8be7ef
commit 50484c3321
2 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
APMrover2/Parameters.cpp
View File

@ -334,11 +334,11 @@ const AP_Param::Info Rover::var_info[] = {
#if AP_AHRS_NAVEKF_AVAILABLE
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif
// @Group: RPM

2
APMrover2/sensors.cpp
View File

@ -79,7 +79,7 @@ void Rover::update_wheel_encoder()
* timeStamp_ms is the time when the rotation was last measured (msec)
* posOffset is the XYZ body frame position of the wheel hub (m)
*/
EKF3.writeWheelOdom(delta_angle,
ahrs.EKF3.writeWheelOdom(delta_angle,
delta_time,
wheel_encoder_last_reading_ms[wheel_encoder_last_index_sent],
g2.wheel_encoder.get_pos_offset(wheel_encoder_last_index_sent),