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@ -56,6 +56,7 @@
@@ -56,6 +56,7 @@
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#include <signal.h> |
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#include <unistd.h> |
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#include <AP_HAL/utility/getopt_cpp.h> |
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#include <AP_SerialManager/AP_SerialManager.h> |
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#include "Parameters.h" |
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#include "VehicleType.h" |
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#include "MsgHandler.h" |
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@ -81,7 +82,8 @@ public:
@@ -81,7 +82,8 @@ public:
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AP_Baro barometer; |
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AP_GPS gps; |
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Compass compass; |
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RangeFinder rng; |
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AP_SerialManager serial_manager; |
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RangeFinder rng {serial_manager}; |
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NavEKF EKF{&ahrs, barometer, rng}; |
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AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF}; |
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AP_InertialNav_NavEKF inertial_nav{ahrs}; |
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