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AP_AHRS: pass EKF into constructor

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this makes it possible for var_info in vehicle code to be in text
segment
This commit is contained in:
Andrew Tridgell 2015-06-01 16:16:24 +10:00
parent 26e55f078a
commit 04ba5fa0bd
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -34,9 +34,9 @@ class AP_AHRS_NavEKF : public AP_AHRS_DCM
{
public:
// Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng) :
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng, NavEKF &_EKF) :
AP_AHRS_DCM(ins, baro, gps),
EKF(this, baro, rng),
EKF(_EKF),
ekf_started(false),
startup_delay_ms(1000),
start_time_ms(0)
@ -127,7 +127,7 @@ public:
private:
bool using_EKF(void) const;
NavEKF EKF;
NavEKF &EKF;
bool ekf_started;
Matrix3f _dcm_matrix;
Vector3f _dcm_attitude;