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AP_AHRS: fixes for macos CAN SITL build

This commit is contained in:
Andrew Tridgell 2023-08-26 14:45:18 +10:00
parent 12f5448bf4
commit d8c5ce4347
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_AHRS/AP_AHRS.cpp
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@ -1215,22 +1215,24 @@ bool AP_AHRS::_get_secondary_position(Location &loc) const
// EKF has a better ground speed vector estimate
Vector2f AP_AHRS::_groundspeed_vector(void)
{
Vector3f vec;
switch (active_EKF_type()) {
case EKFType::NONE:
break;
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
case EKFType::TWO: {
Vector3f vec;
EKF2.getVelNED(vec);
return vec.xy();
}
#endif
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
case EKFType::THREE: {
Vector3f vec;
EKF3.getVelNED(vec);
return vec.xy();
}
#endif
#if AP_AHRS_SIM_ENABLED