From 5cac948ed05a466ff50ef1de6c87d80379b5745f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 21 Sep 2015 15:27:49 +1000
Subject: [PATCH] Rover: added EK2_ parameters and EKF2 instance

---
 APMrover2/Parameters.cpp | 4 ++++
 APMrover2/Parameters.h   | 1 +
 APMrover2/Rover.h        | 4 +++-
 APMrover2/make.inc       | 1 +
 4 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 183edb2956..2af51455e2 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -521,6 +521,10 @@ const AP_Param::Info Rover::var_info[] PROGMEM = {
     // @Group: EKF_
     // @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
     GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
+
+    // @Group: EK2_
+    // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
+    GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
 #endif
 
     // @Group: MIS_
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index 1e34fb9925..56d03fb2eb 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -83,6 +83,7 @@ public:
         k_param_steering_learn, // unused
         k_param_NavEKF,  // Extended Kalman Filter Inertial Navigation Group
         k_param_mission, // mission library
+        k_param_NavEKF2,
 
         // 140: battery controls
         k_param_battery_monitoring = 140,   // deprecated, can be deleted
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index c46bb5dca2..3c22be28cc 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -42,6 +42,7 @@
 #include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
 #include <AP_AHRS/AP_AHRS.h>         // ArduPilot Mega DCM Library
 #include <AP_NavEKF/AP_NavEKF.h>
+#include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_Mission/AP_Mission.h>     // Mission command library
 #include <AP_Rally/AP_Rally.h>
 #include <AP_Terrain/AP_Terrain.h>
@@ -152,7 +153,8 @@ private:
 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
     NavEKF EKF{&ahrs, barometer, sonar};
-    AP_AHRS_NavEKF ahrs {ins, barometer, gps, sonar, EKF};
+    NavEKF2 EKF2{&ahrs, barometer, sonar};
+    AP_AHRS_NavEKF ahrs {ins, barometer, gps, sonar, EKF, EKF2};
 #else
     AP_AHRS_DCM ahrs {ins, barometer, gps};
 #endif
diff --git a/APMrover2/make.inc b/APMrover2/make.inc
index 382d9ff152..fcb50680ad 100644
--- a/APMrover2/make.inc
+++ b/APMrover2/make.inc
@@ -13,6 +13,7 @@ LIBRARIES += AP_Math
 LIBRARIES += AP_InertialSensor
 LIBRARIES += AP_AHRS
 LIBRARIES += AP_NavEKF
+LIBRARIES += AP_NavEKF2
 LIBRARIES += AP_Mission
 LIBRARIES += AP_Rally
 LIBRARIES += AP_Terrain