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Copter: use AP_InertialNav_NavEKF when available

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Andrew Tridgell 2014-01-03 22:58:08 +11:00
parent 658110dd8c
commit 99b3517a47
1 changed files with 4 additions and 0 deletions
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ArduCopter/ArduCopter.pde
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@ -666,7 +666,11 @@ static float G_Dt = 0.02;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Inertial Navigation // Inertial Navigation
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
#if AP_AHRS_NAVEKF_AVAILABLE
static AP_InertialNav_NavEKF inertial_nav(ahrs, barometer, g_gps, gps_glitch);
#else
static AP_InertialNav inertial_nav(ahrs, barometer, g_gps, gps_glitch); static AP_InertialNav inertial_nav(ahrs, barometer, g_gps, gps_glitch);
#endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Attitude, Position and Waypoint navigation objects // Attitude, Position and Waypoint navigation objects