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https://github.com/ArduPilot/ardupilot
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Copter: changes for new AHRS API
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parent
9adc879253
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ArduCopter
@ -28,7 +28,6 @@ Copter::Copter(void) :
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ins_sample_rate(AP_InertialSensor::RATE_400HZ),
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flight_modes(&g.flight_mode1),
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sonar_enabled(true),
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ahrs(ins, barometer, gps, sonar),
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mission(ahrs,
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FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
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FUNCTOR_BIND_MEMBER(&Copter::verify_command, bool, const AP_Mission::Mission_Command &),
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@ -177,7 +177,8 @@ private:
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#endif
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// Inertial Navigation EKF
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AP_AHRS_NavEKF ahrs;
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NavEKF EKF{&ahrs, barometer, sonar};
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AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF};
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SITL sitl;
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@ -1004,7 +1004,7 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
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#if AP_AHRS_NAVEKF_AVAILABLE
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// @Group: EKF_
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// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
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GOBJECTN(ahrs.get_NavEKF(), NavEKF, "EKF_", NavEKF),
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GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
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#endif
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// @Group: MIS_
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