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Copter: changes for new AHRS API

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This commit is contained in:
Andrew Tridgell 2015-06-01 16:16:59 +10:00
parent 9adc879253
commit bfb105fa5a
3 changed files with 3 additions and 3 deletions
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1
ArduCopter/Copter.cpp
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@ -28,7 +28,6 @@ Copter::Copter(void) :
ins_sample_rate(AP_InertialSensor::RATE_400HZ), ins_sample_rate(AP_InertialSensor::RATE_400HZ),
flight_modes(&g.flight_mode1), flight_modes(&g.flight_mode1),
sonar_enabled(true), sonar_enabled(true),
ahrs(ins, barometer, gps, sonar),
mission(ahrs, mission(ahrs,
FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &), FUNCTOR_BIND_MEMBER(&Copter::start_command, bool, const AP_Mission::Mission_Command &),
FUNCTOR_BIND_MEMBER(&Copter::verify_command, bool, const AP_Mission::Mission_Command &), FUNCTOR_BIND_MEMBER(&Copter::verify_command, bool, const AP_Mission::Mission_Command &),

3
ArduCopter/Copter.h
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@ -177,7 +177,8 @@ private:
#endif #endif
// Inertial Navigation EKF // Inertial Navigation EKF
AP_AHRS_NavEKF ahrs; NavEKF EKF{&ahrs, barometer, sonar};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL sitl; SITL sitl;

2
ArduCopter/Parameters.cpp
View File

@ -1004,7 +1004,7 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
// @Group: EKF_ // @Group: EKF_
// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
GOBJECTN(ahrs.get_NavEKF(), NavEKF, "EKF_", NavEKF), GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
#endif #endif
// @Group: MIS_ // @Group: MIS_