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modify NavEKF2 for AHRS Test

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jinchengde@gmail.com 2016-11-30 16:59:11 +08:00 committed by Tom Pittenger
parent d619d33374
commit efd0f0b832
1 changed files with 14 additions and 3 deletions
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17
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
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@ -15,12 +15,23 @@ AP_InertialSensor ins;
Compass compass;
AP_GPS gps;
AP_Baro baro;
AP_Baro barometer;
AP_SerialManager serial_manager;
// choose which AHRS system to use
AP_AHRS_DCM ahrs(ins, baro, gps);
class DummyVehicle {
public:
RangeFinder sonar {serial_manager};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF, EKF2,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF EKF{&ahrs, barometer, sonar};
NavEKF2 EKF2{&ahrs, barometer, sonar};
};
static DummyVehicle vehicle;
// choose which AHRS system to use
// AP_AHRS_DCM ahrs(ins, baro, gps);
AP_AHRS_NavEKF ahrs(vehicle.ahrs);
#define HIGH 1