From 04ba5fa0bdd0bc48dc008f5fccacc1aebca39d12 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 1 Jun 2015 16:16:24 +1000
Subject: [PATCH] AP_AHRS: pass EKF into constructor

this makes it possible for var_info in vehicle code to be in text
segment
---
 libraries/AP_AHRS/AP_AHRS_NavEKF.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 011d71e8db..7748abd2ba 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -34,9 +34,9 @@ class AP_AHRS_NavEKF : public AP_AHRS_DCM
 {
 public:
     // Constructor
-    AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng) :
+AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng, NavEKF &_EKF) :
     AP_AHRS_DCM(ins, baro, gps),
-        EKF(this, baro, rng),
+        EKF(_EKF),
         ekf_started(false),
         startup_delay_ms(1000),
         start_time_ms(0)
@@ -127,7 +127,7 @@ public:
 private:
     bool using_EKF(void) const;
 
-    NavEKF EKF;
+    NavEKF &EKF;
     bool ekf_started;
     Matrix3f _dcm_matrix;
     Vector3f _dcm_attitude;