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AP_InertialNav: rename for AHRS restructuring

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Peter Barker 2021-07-20 22:16:30 +10:00 committed by Peter Barker
parent 2bd8a45c58
commit dbc24d5cd3
3 changed files with 4 additions and 5 deletions
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2
libraries/AP_InertialNav/AP_InertialNav.h
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@ -83,5 +83,3 @@ public:
*/ */
virtual float get_velocity_z() const = 0; virtual float get_velocity_z() const = 0;
}; };
#include "AP_InertialNav_NavEKF.h"

2
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
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@ -1,6 +1,6 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Baro/AP_Baro.h> #include <AP_Baro/AP_Baro.h>
#include "AP_InertialNav.h" #include "AP_InertialNav_NavEKF.h"
/* /*
A wrapper around the AP_InertialNav class which uses the NavEKF A wrapper around the AP_InertialNav class which uses the NavEKF

5
libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
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@ -6,12 +6,13 @@
#pragma once #pragma once
#include <AP_NavEKF/AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters #include <AP_NavEKF/AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
#include "AP_InertialNav.h"
class AP_InertialNav_NavEKF : public AP_InertialNav class AP_InertialNav_NavEKF : public AP_InertialNav
{ {
public: public:
// Constructor // Constructor
AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs) : AP_InertialNav_NavEKF(AP_AHRS &ahrs) :
AP_InertialNav(), AP_InertialNav(),
_ahrs_ekf(ahrs) _ahrs_ekf(ahrs)
{} {}
@ -70,5 +71,5 @@ public:
private: private:
Vector3f _relpos_cm; // NEU Vector3f _relpos_cm; // NEU
Vector3f _velocity_cm; // NEU Vector3f _velocity_cm; // NEU
AP_AHRS_NavEKF &_ahrs_ekf; AP_AHRS &_ahrs_ekf;
}; };