diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index 18b0b6cd33260a69176dc94dd025ada9625f974c..0ef3d087ef9a96d14a53dd28af5a800eaec5a8d9 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF.cpp @@ -311,7 +311,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) : prevStaticMode(true), // staticMode from previous filter update yawAligned(false) // set true when heading or yaw angle has been aligned -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN ,_perf_UpdateFilter(perf_alloc(PC_ELAPSED, "EKF_UpdateFilter")), _perf_CovariancePrediction(perf_alloc(PC_ELAPSED, "EKF_CovariancePrediction")), _perf_FuseVelPosNED(perf_alloc(PC_ELAPSED, "EKF_FuseVelPosNED")), diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h index 349bf888ba840ba563236bd5e530f1e11185eba5..94800a2b51821d39d9be9b5ae919cbd569a40305 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.h +++ b/libraries/AP_NavEKF/AP_NavEKF.h @@ -32,7 +32,7 @@ #include <vectorN.h> -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #include <systemlib/perf_counter.h> #endif @@ -458,7 +458,7 @@ private: } mag_state; -#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 +#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN // performance counters perf_counter_t _perf_UpdateFilter; perf_counter_t _perf_CovariancePrediction;