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

ArduCopter: Add EKF3 and remove EKF1

Browse Source
This commit is contained in:
Andrew Tridgell 2016-07-14 15:08:43 +10:00
parent 33943de4a0
commit c3b9dbf5c8
5 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/Copter.h
View File

@ -46,8 +46,8 @@
#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
#include <AP_InertialSensor/AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_AHRS/AP_AHRS.h>
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include <AP_Mission/AP_Mission.h> // Mission command library
#include <AC_PID/AC_PID.h> // PID library
#include <AC_PID/AC_PI_2D.h> // PID library (2-axis)
@ -202,9 +202,9 @@ private:
AP_RPM rpm_sensor;
// Inertial Navigation EKF
NavEKF EKF{&ahrs, barometer, rangefinder};
NavEKF2 EKF2{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, rangefinder, EKF, EKF2, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, rangefinder, EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl;

4
ArduCopter/Log.cpp
View File

@ -378,9 +378,9 @@ void Copter::Log_Write_Attitude()
DataFlash.Log_Write_Attitude(ahrs, targets);
#if OPTFLOW == ENABLED
DataFlash.Log_Write_EKF2(ahrs,optflow.enabled());
DataFlash.Log_Write_EKF(ahrs,optflow.enabled());
#else
DataFlash.Log_Write_EKF2(ahrs,false);
DataFlash.Log_Write_EKF(ahrs,false);
#endif
DataFlash.Log_Write_AHRS2(ahrs);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL

8
ArduCopter/Parameters.cpp
View File

@ -852,14 +852,14 @@ const AP_Param::Info Copter::var_info[] = {
// @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
GOBJECT(rcmap, "RCMAP_", RCMapper),
// @Group: EKF_
// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
// @Group: MIS_
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECT(mission, "MIS_", AP_Mission),

5
ArduCopter/Parameters.h
View File

@ -51,9 +51,10 @@ public:
k_param_software_type,
k_param_ins_old, // *** Deprecated, remove with next eeprom number change
k_param_ins, // libraries/AP_InertialSensor variables
k_param_NavEKF2_old, // deprecated
k_param_NavEKF2_old, // deprecated - remove
k_param_NavEKF2,
k_param_g2, // 2nd block of parameters
k_param_NavEKF3,
// simulation
k_param_sitl = 10,
@ -110,7 +111,7 @@ public:
k_param_angle_rate_max, // remove
k_param_rssi_range, // unused, replaced by rssi_ library parameters
k_param_rc_feel_rp,
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
k_param_NavEKF, // deprecated - remove
k_param_mission, // mission library
k_param_rc_13,
k_param_rc_14,

1
ArduCopter/make.inc
View File

@ -14,7 +14,6 @@ LIBRARIES += AP_Math
LIBRARIES += AP_InertialSensor
LIBRARIES += AP_AccelCal
LIBRARIES += AP_AHRS
LIBRARIES += AP_NavEKF
LIBRARIES += AP_NavEKF2
LIBRARIES += AP_Mission
LIBRARIES += AP_Rally