Copter: enable use of AHRS_NavEKF

11 years ago · af5a3dff93
1 changed files with 6 additions and 1 deletions
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@ -316,7 +316,12 @@ AP_GPS_None     g_gps_driver;
				@@ -316,7 +316,12 @@ AP_GPS_None     g_gps_driver;
  #error Unrecognised GPS_PROTOCOL setting.
 #endif // GPS PROTOCOL

-static AP_AHRS_DCM ahrs(ins, g_gps);
+// Inertial Navigation EKF
+#if AP_AHRS_NAVEKF_AVAILABLE
+AP_AHRS_NavEKF ahrs(ins, barometer, g_gps);
+#else
+AP_AHRS_DCM ahrs(ins, barometer, g_gps);
+#endif

 #elif HIL_MODE != HIL_MODE_DISABLED
 // sensor emulators