From 8c4b0b9be9703d6773b43b00da1e89a92a9fa001 Mon Sep 17 00:00:00 2001 From: Paul Riseborough 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 };