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AP_AHRS: added NavEKF2 to constructor

This commit is contained in:
Andrew Tridgell 2015-09-23 10:35:02 +10:00
parent b4555f30a5
commit ed25c85d21
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -26,6 +26,7 @@
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#define AP_AHRS_NAVEKF_AVAILABLE 1
#define AP_AHRS_NAVEKF_SETTLE_TIME_MS 20000 // time in milliseconds the ekf needs to settle after being started
@ -34,9 +35,11 @@ class AP_AHRS_NavEKF : public AP_AHRS_DCM
{
public:
// Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng, NavEKF &_EKF) :
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng,
NavEKF &_EKF, NavEKF2 &_EKF2) :
AP_AHRS_DCM(ins, baro, gps),
EKF(_EKF),
EKF2(_EKF2),
ekf_started(false),
startup_delay_ms(1000),
start_time_ms(0)
@ -131,6 +134,7 @@ private:
bool using_EKF(void) const;
NavEKF &EKF;
NavEKF2 &EKF2;
bool ekf_started;
Matrix3f _dcm_matrix;
Vector3f _dcm_attitude;