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Rover: changes for new AHRS API

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This commit is contained in:
Andrew Tridgell 2015-06-01 16:17:15 +10:00
parent fdc0839aaa
commit e449b3c4a1
3 changed files with 5 additions and 9 deletions
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2
APMrover2/Parameters.cpp
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@ -517,7 +517,7 @@ const AP_Param::Info Rover::var_info[] PROGMEM = {
#if AP_AHRS_NAVEKF_AVAILABLE
// @Group: EKF_
// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
GOBJECTN(ahrs.get_NavEKF(), NavEKF, "EKF_", NavEKF),
GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
#endif
// @Group: MIS_

5
APMrover2/Rover.cpp
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@ -30,11 +30,6 @@ Rover::Rover(void) :
#endif
in_log_download(false),
modes(&g.mode1),
#if AP_AHRS_NAVEKF_AVAILABLE
ahrs(ins, barometer, gps, sonar),
#else
ahrs(ins, barometer, gps),
#endif
L1_controller(ahrs),
nav_controller(&L1_controller),
steerController(ahrs),

7
APMrover2/Rover.h
View File

@ -156,11 +156,12 @@ private:
// flight modes convenience array
AP_Int8 *modes;
// Inertial Navigation EKF
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs;
NavEKF EKF{&ahrs, barometer, sonar};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, sonar, EKF};
#else
AP_AHRS_DCM ahrs;
AP_AHRS_DCM ahrs {ins, barometer, gps};
#endif
AP_L1_Control L1_controller;