From bb0995f7d8469d1bc86edefa95318809c87a1660 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 21 Feb 2014 13:51:34 +0900
Subject: [PATCH] Rover: add EKF params to full param list

---
 APMrover2/Parameters.h   | 1 +
 APMrover2/Parameters.pde | 6 ++++++
 2 files changed, 7 insertions(+)

diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index ad51a4b222..480373dd9a 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -61,6 +61,7 @@ public:
         //
         k_param_compass_enabled = 130,
         k_param_steering_learn, // unused
+        k_param_NavEKF,  // Extended Kalman Filter Inertial Navigation Group
 
         // 140: battery controls
         k_param_battery_monitoring = 140,   // deprecated, can be deleted
diff --git a/APMrover2/Parameters.pde b/APMrover2/Parameters.pde
index 87222e54c8..b61172f440 100644
--- a/APMrover2/Parameters.pde
+++ b/APMrover2/Parameters.pde
@@ -495,6 +495,12 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 
+#if AP_AHRS_NAVEKF_AVAILABLE
+    // @Group: EKF_
+    // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
+    GOBJECTN(ahrs.get_NavEKF(), NavEKF, "EKF_", NavEKF),
+#endif
+
 	AP_VAREND
 };