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AP_NavEKF: moved ENABLE param to front of list

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and mark as FLAG_ENABLE. This removes the EKF_* parameters when
EKF_ENABLE is 0
This commit is contained in:
Andrew Tridgell 2016-01-02 20:30:43 +11:00
parent ac64effc74
commit 0ef61b1637
1 changed files with 6 additions and 7 deletions
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13
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -118,6 +118,12 @@ extern const AP_HAL::HAL& hal;
// Define tuning parameters
const AP_Param::GroupInfo NavEKF::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable EKF1
// @Description: This enables EKF1 to be disabled when using alternative algorithms. When disabling it, the alternate EKF2 estimator must be enabled by setting EK2_ENABLED = 1 and flight control algorithms must be set to use the alternative estimator by setting AHRS_EKF_TYPE = 2.
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 34, NavEKF, _enable, 1, AP_PARAM_FLAG_ENABLE),
// @Param: VELNE_NOISE
// @DisplayName: GPS horizontal velocity measurement noise scaler
@ -396,13 +402,6 @@ const AP_Param::GroupInfo NavEKF::var_info[] = {
// @User: Advanced
AP_GROUPINFO("GPS_CHECK", 33, NavEKF, _gpsCheck, 31),
// @Param: ENABLE
// @DisplayName: Enable EKF1
// @Description: This enables EKF1 to be disabled when using alternative algorithms. When disabling it, the alternate EKF2 estimator must be enabled by setting EK2_ENABLED = 1 and flight control algorithms must be set to use the alternative estimator by setting AHRS_EKF_TYPE = 2.
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO("ENABLE", 34, NavEKF, _enable, 1),
AP_GROUPEND
};