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Replay: fixed build with NavEKF2

This commit is contained in:
Andrew Tridgell 2015-09-23 11:55:26 +10:00
parent 277f2f3b27
commit b71678b901
3 changed files with 9 additions and 1 deletions
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1
Tools/Replay/Parameters.h
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@ -16,6 +16,7 @@ public:
k_param_ahrs,
k_param_airspeed,
k_param_NavEKF,
k_param_NavEKF2,
k_param_compass
};
AP_Int8 dummy;

8
Tools/Replay/Replay.cpp
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@ -43,6 +43,7 @@
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_InertialNav/AP_InertialNav.h>
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_Rally/AP_Rally.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
@ -85,7 +86,8 @@ public:
AP_SerialManager serial_manager;
RangeFinder rng {serial_manager};
NavEKF EKF{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF};
NavEKF2 EKF2{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF, EKF2};
AP_InertialNav_NavEKF inertial_nav{ahrs};
AP_Vehicle::FixedWing aparm;
AP_Airspeed airspeed{aparm};
@ -131,6 +133,10 @@ const AP_Param::Info ReplayVehicle::var_info[] PROGMEM = {
// @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),
// @Group: COMPASS_
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),

1
Tools/Replay/make.inc
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@ -26,6 +26,7 @@ LIBRARIES += AP_Baro
LIBRARIES += AP_InertialSensor
LIBRARIES += AP_InertialNav
LIBRARIES += AP_NavEKF
LIBRARIES += AP_NavEKF2
LIBRARIES += AP_Mission
LIBRARIES += AP_Rally
LIBRARIES += AP_BattMonitor