From 8c4b0b9be9703d6773b43b00da1e89a92a9fa001 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Fri, 31 Jan 2014 09:16:07 +1100
Subject: [PATCH] Plane : NavEKF Mavlink tunable parameter - first attempt

---
 ArduPlane/Parameters.h   | 3 +++
 ArduPlane/Parameters.pde | 6 ++++++
 2 files changed, 9 insertions(+)

diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 86c1ba4173..972e43f739 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -153,6 +153,9 @@ public:
         k_param_barometer,   // barometer ground calibration
         k_param_airspeed,  // AP_Airspeed parameters
         k_param_curr_amp_offset,
+#if AP_AHRS_NAVEKF_AVAILABLE
+        k_param_NavEKF,  // Extended Kalman Filter Inertial Navigation Group
+#endif
 
         //
         // 150: Navigation parameters
diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index cc90070272..9e3643a891 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -973,6 +973,12 @@ const AP_Param::Info var_info[] PROGMEM = {
     GOBJECT(obc,  "FS_", APM_OBC),
 #endif
 
+#if AP_AHRS_NAVEKF_AVAILABLE
+    // @Group: EKF_
+    // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
+    GOBJECT(NavEKF, "EKF_", AP_NavEKF),
+#endif
+
     AP_VAREND
 };