Copter: use AP_InertialNav_NavEKF when available

11 years ago · 99b3517a47
1 changed files with 4 additions and 0 deletions
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@ -666,7 +666,11 @@ static float G_Dt = 0.02;
				@@ -666,7 +666,11 @@ static float G_Dt = 0.02;
 ////////////////////////////////////////////////////////////////////////////////
 // Inertial Navigation
 ////////////////////////////////////////////////////////////////////////////////
+#if AP_AHRS_NAVEKF_AVAILABLE
+static AP_InertialNav_NavEKF inertial_nav(ahrs, barometer, g_gps, gps_glitch);
+#else
 static AP_InertialNav inertial_nav(ahrs, barometer, g_gps, gps_glitch);
+#endif

 ////////////////////////////////////////////////////////////////////////////////
 // Attitude, Position and Waypoint navigation objects