Rover: EKF objects have moved into AP_AHRS_NavEKF

5 years ago · 50484c3321
2 changed files with 3 additions and 3 deletions
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@ -334,11 +334,11 @@ const AP_Param::Info Rover::var_info[] = {
				@@ -334,11 +334,11 @@ const AP_Param::Info Rover::var_info[] = {
 #if AP_AHRS_NAVEKF_AVAILABLE
    // @Group: EK2_
    // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
-    GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
+    GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),

    // @Group: EK3_
    // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
-    GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
+    GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
 #endif

    // @Group: RPM
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@ -79,7 +79,7 @@ void Rover::update_wheel_encoder()
				@@ -79,7 +79,7 @@ void Rover::update_wheel_encoder()
     * timeStamp_ms is the time when the rotation was last measured (msec)
     * posOffset is the XYZ body frame position of the wheel hub (m)
     */
-    EKF3.writeWheelOdom(delta_angle,
+    ahrs.EKF3.writeWheelOdom(delta_angle,
                        delta_time,
                        wheel_encoder_last_reading_ms[wheel_encoder_last_index_sent],
                        g2.wheel_encoder.get_pos_offset(wheel_encoder_last_index_sent),