From 25f1c5774fd743c89c4c5b733e25fd9d0fc7a1db Mon Sep 17 00:00:00 2001
From: Emile Castelnuovo <emile.castelnuovo@gmail.com>
Date: Mon, 31 Mar 2014 19:54:01 +0200
Subject: [PATCH] AP_NavEKF: added #defines for VRBRAIN board
---
libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +-
libraries/AP_NavEKF/AP_NavEKF.h | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 18b0b6cd3..0ef3d087e 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 349bf888b..94800a2b5 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;
--
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