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@ -28,14 +28,14 @@ public:
@@ -28,14 +28,14 @@ public:
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RangeFinder sonar{serial_manager, ROTATION_PITCH_270}; |
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NavEKF2 EKF2{&ahrs, sonar}; |
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NavEKF3 EKF3{&ahrs, sonar}; |
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AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3, |
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AP_AHRS_NavEKF ahrs{EKF2, EKF3, |
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AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF}; |
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}; |
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static DummyVehicle vehicle; |
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// choose which AHRS system to use
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// AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, barometer, gps);
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// AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(barometer, gps);
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AP_AHRS_NavEKF &ahrs = vehicle.ahrs; |
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void setup(void) |
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