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

AP_AHRS: fixed build on boards without EKF2

This commit is contained in:
Andrew Tridgell 2020-12-13 09:10:33 +11:00
parent ad582a90dd
commit 6d6ec44d59
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -668,13 +668,16 @@ bool AP_AHRS_NavEKF::airspeed_estimate(float &airspeed_ret) const
break;
#endif
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return AP_AHRS_DCM::airspeed_estimate(get_active_airspeed_index(), airspeed_ret);
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
ret = EKF3.getWind(-1,wind_vel);
break;
#endif
}
// estimate it via nav velocity and wind estimates