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Plane: added EKF2 to parameters as EK2_*

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This commit is contained in:
Andrew Tridgell 2015-09-21 15:28:25 +10:00
parent 053194fd51
commit 91f990af06
4 changed files with 9 additions and 1 deletions
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4
ArduPlane/Parameters.cpp
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@ -1188,6 +1188,10 @@ const AP_Param::Info Plane::var_info[] PROGMEM = {
// @Group: EKF_
// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
#endif
// @Group: RSSI_

1
ArduPlane/Parameters.h
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@ -199,6 +199,7 @@ public:
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
k_param_mission, // mission library
k_param_serial_manager, // serial manager library
k_param_NavEKF2, // EKF2
//
// 150: Navigation parameters

4
ArduPlane/Plane.h
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@ -79,6 +79,7 @@
#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#include <AP_TECS/AP_TECS.h>
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_Mission/AP_Mission.h> // Mission command library
#include <AP_Notify/AP_Notify.h> // Notify library
@ -208,7 +209,8 @@ private:
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF EKF{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF};
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rangefinder, EKF, EKF2};
#else
AP_AHRS_DCM ahrs {ins, barometer, gps};
#endif

1
ArduPlane/make.inc
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@ -38,6 +38,7 @@ LIBRARIES += AP_Vehicle
LIBRARIES += AP_SpdHgtControl
LIBRARIES += AP_TECS
LIBRARIES += AP_NavEKF
LIBRARIES += AP_NavEKF2
LIBRARIES += AP_Mission
LIBRARIES += AP_Notify
LIBRARIES += AP_BattMonitor