From 38d974b63fa0a0f690c5e7d961e5a59d2efac9ac Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Sat, 28 Jul 2012 14:18:31 +0900
Subject: [PATCH] ArduCopter: changes in arducopter to support moving AHRS
 var_info from AP_AHRS to AP_AHRS_DCM

---
 ArduCopter/Parameters.pde | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index 4f1dfa4640..08940b3488 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -320,7 +320,11 @@ static const AP_Param::Info var_info[] PROGMEM = {
 
 	// @Group: AHRS_
 	// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
-	GOBJECT(ahrs,			"AHRS_",    AP_AHRS),
+	#if DMP_ENABLED == ENABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
+	GOBJECT(ahrs,			"AHRS_",    AP_AHRS_DCM),
+	#else
+	GOBJECT(ahrs,			"AHRS_",    AP_AHRS_MPU6000),
+	#endif
 
 #if MOUNT == ENABLED
 	// @Group: MNT_