|
|
|
@ -62,7 +62,7 @@ public:
@@ -62,7 +62,7 @@ public:
|
|
|
|
|
AP_GPS gps; |
|
|
|
|
Compass compass; |
|
|
|
|
AP_SerialManager serial_manager; |
|
|
|
|
RangeFinder rng {serial_manager}; |
|
|
|
|
RangeFinder rng {serial_manager, ROTATION_PITCH_270}; |
|
|
|
|
NavEKF2 EKF2{&ahrs, barometer, rng}; |
|
|
|
|
NavEKF3 EKF3{&ahrs, barometer, rng}; |
|
|
|
|
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF2, EKF3}; |
|
|
|
|