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Rover: enable use of AHRS_NavEKF

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This commit is contained in:
Andrew Tridgell 2014-01-02 17:05:43 +11:00
parent 6e5077b60b
commit e315c5f28e
1 changed files with 26 additions and 1 deletions
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27
APMrover2/APMrover2.pde
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@ -70,6 +70,7 @@
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library #include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library #include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
#include <AP_AHRS.h> // ArduPilot Mega DCM Library #include <AP_AHRS.h> // ArduPilot Mega DCM Library
#include <AP_NavEKF.h>
#include <PID.h> // PID library #include <PID.h> // PID library
#include <RC_Channel.h> // RC Channel Library #include <RC_Channel.h> // RC Channel Library
#include <AP_RangeFinder.h> // Range finder library #include <AP_RangeFinder.h> // Range finder library
@ -257,7 +258,31 @@ AP_InertialSensor_Oilpan ins( &adc );
#error Unrecognised CONFIG_INS_TYPE setting. #error Unrecognised CONFIG_INS_TYPE setting.
#endif // CONFIG_INS_TYPE #endif // CONFIG_INS_TYPE
AP_AHRS_DCM ahrs(ins, g_gps);
#if CONFIG_BARO == AP_BARO_BMP085
static AP_Baro_BMP085 barometer;
#elif CONFIG_BARO == AP_BARO_PX4
static AP_Baro_PX4 barometer;
#elif CONFIG_BARO == AP_BARO_HIL
static AP_Baro_HIL barometer;
#elif CONFIG_BARO == AP_BARO_MS5611
#if CONFIG_MS5611_SERIAL == AP_BARO_MS5611_SPI
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::spi);
#elif CONFIG_MS5611_SERIAL == AP_BARO_MS5611_I2C
static AP_Baro_MS5611 barometer(&AP_Baro_MS5611::i2c);
#else
#error Unrecognized CONFIG_MS5611_SERIAL setting.
#endif
#else
#error Unrecognized CONFIG_BARO setting
#endif
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs(ins, barometer, g_gps);
#else
AP_AHRS_DCM ahrs(ins, barometer, g_gps);
#endif
static AP_L1_Control L1_controller(ahrs); static AP_L1_Control L1_controller(ahrs);