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Tracker: vehicle parent class now instantiates AHRS

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Peter Barker 2019-11-25 10:15:44 +11:00 committed by Peter Barker
parent 89de713bb7
commit 16103f08d8
1 changed files with 0 additions and 9 deletions
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9
AntennaTracker/Tracker.h
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@ -90,15 +90,6 @@ private:
AP_Logger logger; AP_Logger logger;
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, rangefinder};
NavEKF3 EKF3{&ahrs, rangefinder};
AP_AHRS_NavEKF ahrs{EKF2, EKF3};
#else
AP_AHRS_DCM ahrs;
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl; SITL::SITL sitl;
#endif #endif