Rover: Add EKF3 and remove EKF1

APMrover2/Parameters.cpp

@@ -535,15 +535,15 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_GPS/AP_GPS.cpp
     GOBJECT(gps, "GPS_", AP_GPS),
 
-#if AP_AHRS_NAVEKF_AVAILABLE
-    // @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),
-#endif
+    #if AP_AHRS_NAVEKF_AVAILABLE
+        // @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),
+    #endif
 
     // @Group: MIS_
     // @Path: ../libraries/AP_Mission/AP_Mission.cpp

APMrover2/Parameters.h

@@ -81,11 +81,12 @@ public:
         //
         k_param_compass_enabled = 130,
         k_param_steering_learn, // unused
-        k_param_NavEKF,  // Extended Kalman Filter Inertial Navigation Group
+        k_param_NavEKF, // deprecated - remove
         k_param_mission, // mission library
-        k_param_NavEKF2_old, // deprecated
+        k_param_NavEKF2_old, // deprecated - remove
         k_param_NavEKF2,
         k_param_g2, // 2nd block of parameters
+        k_param_NavEKF3,
 
         // 140: battery controls
         k_param_battery_monitoring = 140,   // deprecated, can be deleted

APMrover2/Rover.h

@@ -34,8 +34,8 @@
 #include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
 #include <AP_AccelCal/AP_AccelCal.h>                // interface and maths for accelerometer calibration
 #include <AP_AHRS/AP_AHRS.h>         // ArduPilot Mega DCM Library
-#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 <AP_Rally/AP_Rally.h>
 #include <AP_Terrain/AP_Terrain.h>
@@ -143,9 +143,9 @@ private:
 
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF EKF{&ahrs, barometer, sonar};
     NavEKF2 EKF2{&ahrs, barometer, sonar};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, sonar, EKF, EKF2};
+    NavEKF3 EKF3{&ahrs, barometer, sonar};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, sonar, EKF2, EKF3};
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};
 #endif