Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: pass sonar into ahrs constructor

Browse Source
This commit is contained in:
Randy Mackay 2015-04-24 11:22:16 +09:00
parent 94dc973c29
commit d5934343d4
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
APMrover2/APMrover2.pde
View File

@ -212,9 +212,13 @@ AP_ADC_ADS7844 apm1_adc;
AP_InertialSensor ins;
////////////////////////////////////////////////////////////////////////////////
// SONAR
static RangeFinder sonar;
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs(ins, barometer, gps);
AP_AHRS_NavEKF ahrs(ins, barometer, gps, sonar);
#else
AP_AHRS_DCM ahrs(ins, barometer, gps);
#endif
@ -253,10 +257,6 @@ static GCS_MAVLINK gcs[MAVLINK_COMM_NUM_BUFFERS];
// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
AP_HAL::AnalogSource *rssi_analog_source;
////////////////////////////////////////////////////////////////////////////////
// SONAR
static RangeFinder sonar;
// relay support
AP_Relay relay;