From 75688c8342782bc78ba85be3a5e65bcc0c6669c5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 14 Jul 2016 15:08:43 +1000
Subject: [PATCH] AP_OpticalFlow: Add EKF3 and remove EKF1

---
 libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h           | 2 +-
 .../examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp    | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
index 5b6ab459f0..ea6ccee5e2 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
@@ -17,7 +17,7 @@
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_NavEKF2/AP_NavEKF2.h>
-#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_NavEKF3/AP_NavEKF3.h>
 
 #include "OpticalFlow.h"
 
diff --git a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
index 31e8753a0b..3c06bb36e5 100644
--- a/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
+++ b/libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
@@ -10,7 +10,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_NavEKF2/AP_NavEKF2.h>
-#include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_NavEKF3/AP_NavEKF3.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AP_RangeFinder/AP_RangeFinder.h>
 
@@ -24,10 +24,10 @@ public:
     AP_InertialSensor ins;
     AP_SerialManager serial_manager;
     RangeFinder sonar {serial_manager};
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF, EKF2,
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,
                         AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
-    NavEKF EKF{&ahrs, barometer, sonar};
     NavEKF2 EKF2{&ahrs, barometer, sonar};
+    NavEKF3 EKF3{&ahrs, barometer, sonar};
 };
 
 static DummyVehicle vehicle;