aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_OpticalFlow: Add EKF3 and remove EKF1

Browse Source
This commit is contained in:
Andrew Tridgell 2016-07-14 15:08:43 +10:00
parent 7202acc1b5
commit 75688c8342
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
View File

@ -17,7 +17,7 @@
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Math/AP_Math.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include "OpticalFlow.h"

6
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp
View File

@ -10,7 +10,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
@ -24,10 +24,10 @@ public:
AP_InertialSensor ins;
AP_SerialManager serial_manager;
RangeFinder sonar {serial_manager};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF, EKF2,
AP_AHRS_NavEKF ahrs{ins, barometer, gps, sonar, EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF EKF{&ahrs, barometer, sonar};
NavEKF2 EKF2{&ahrs, barometer, sonar};
NavEKF3 EKF3{&ahrs, barometer, sonar};
};
static DummyVehicle vehicle;