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Copter: fixed non-EKF copter build

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Andrew Tridgell 2014-01-14 21:18:10 +11:00
parent 17e24521e8
commit a8dc1be4de
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1531,10 +1531,13 @@ static void tuning(){
g.sonar_gain.set(tuning_value);
break;
#if AP_AHRS_NAVEKF_AVAILABLE
#if 0
case CH6_EKF_VERTICAL_POS:
// EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
ahrs.get_EKF()->_gpsVertPosNoise = tuning_value;
break;
#endif
case CH6_EKF_HORIZONTAL_POS:
// EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
@ -1545,6 +1548,7 @@ static void tuning(){
// EKF's accel noise (lower means trust accels more, gps & baro less)
ahrs.get_EKF()->_accNoise = tuning_value;
break;
#endif // AP_AHRS_NAVEKF_AVAILABLE
}
}