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global: use static method to construct AP_NavEKF2

This commit is contained in:
Lucas De Marchi 2017-08-30 00:28:19 -07:00 committed by Francisco Ferreira
parent 3c04f4e4d1
commit e2fe36357a
8 changed files with 8 additions and 8 deletions
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2
APMrover2/Rover.h
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@ -163,7 +163,7 @@ private:
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
#else

2
AntennaTracker/Tracker.h
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@ -116,7 +116,7 @@ private:
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rng};
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rng);
NavEKF3 EKF3{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3};
#else

2
ArduCopter/Copter.h
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@ -214,7 +214,7 @@ private:
AP_RPM rpm_sensor = AP_RPM::create();
// Inertial Navigation EKF
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};

2
ArduPlane/Plane.h
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@ -213,7 +213,7 @@ private:
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
#else

2
ArduSub/Sub.h
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@ -184,7 +184,7 @@ private:
#endif
// Inertial Navigation EKF
NavEKF2 EKF2 {&ahrs, barometer, rangefinder};
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rangefinder);
NavEKF3 EKF3 {&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};

2
Tools/Replay/Replay.h
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@ -64,7 +64,7 @@ public:
Compass compass = Compass::create();
AP_SerialManager serial_manager = AP_SerialManager::create();
RangeFinder rng = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
NavEKF2 EKF2{&ahrs, barometer, rng};
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, rng);
NavEKF3 EKF3{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, EKF2, EKF3};
AP_InertialNav_NavEKF inertial_nav{ahrs};

2
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
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@ -26,7 +26,7 @@ static AP_SerialManager serial_manager = AP_SerialManager::create();
class DummyVehicle {
public:
RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
NavEKF2 EKF2{&ahrs, barometer, sonar};
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, sonar);
NavEKF3 EKF3{&ahrs, barometer, sonar};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};

2
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
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@ -29,7 +29,7 @@ public:
RangeFinder sonar = RangeFinder::create(serial_manager, ROTATION_PITCH_270);
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF2 EKF2{&ahrs, barometer, sonar};
NavEKF2 EKF2 = NavEKF2::create(&ahrs, barometer, sonar);
NavEKF3 EKF3{&ahrs, barometer, sonar};
};