AP_AHRS: fixed build on boards without EKF2

4 years ago · 6d6ec44d59
1 changed files with 4 additions and 1 deletions
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@ -668,13 +668,16 @@ bool AP_AHRS_NavEKF::airspeed_estimate(float &airspeed_ret) const
				@@ -668,13 +668,16 @@ bool AP_AHRS_NavEKF::airspeed_estimate(float &airspeed_ret) const
        break;
 #endif

+#if HAL_NAVEKF2_AVAILABLE
    case EKFType::TWO:
        return AP_AHRS_DCM::airspeed_estimate(get_active_airspeed_index(), airspeed_ret);
+#endif

+#if HAL_NAVEKF3_AVAILABLE
    case EKFType::THREE:
        ret = EKF3.getWind(-1,wind_vel);
        break;
-
+#endif
    }

    // estimate it via nav velocity and wind estimates