InertialNav: remove GPS glitch protection and baro reference

libraries/AP_InertialNav/AP_InertialNav.h

@@ -7,7 +7,6 @@
 #include <AP_InertialSensor.h>          // ArduPilot Mega IMU Library
 #include <AP_Baro.h>                    // ArduPilot Mega Barometer Library
 #include <AP_Buffer.h>                  // FIFO buffer library
-#include <AP_GPS_Glitch.h>              // GPS Glitch detection library
 #include "../AP_NavEKF/AP_Nav_Common.h" // definitions shared by inertial and ekf nav filters
 
 /*
@@ -29,9 +28,7 @@ class AP_InertialNav
 public:
 
     // Constructor
-    AP_InertialNav(AP_AHRS &ahrs) :
-        _ahrs(ahrs)
-        {}
+    AP_InertialNav() {}
 
     /**
      * update - updates velocity and position estimates using latest info from accelerometers
@@ -112,10 +109,6 @@ public:
      * @return climbrate in cm/s (positive up)
      */
     virtual float       get_velocity_z() const = 0;
-
-protected:
-
-    AP_AHRS                &_ahrs;                      // reference to ahrs object
 };
 
 #if AP_AHRS_NAVEKF_AVAILABLE

libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp

@@ -19,7 +19,7 @@ void AP_InertialNav_NavEKF::update(float dt)
     _ahrs_ekf.get_NavEKF().getPosNED(_relpos_cm);
     _relpos_cm *= 100; // convert to cm
 
-    _haveabspos = _ahrs.get_position(_abspos);
+    _haveabspos = _ahrs_ekf.get_position(_abspos);
 
     _ahrs_ekf.get_NavEKF().getVelNED(_velocity_cm);
     _velocity_cm *= 100; // convert to cm/s

libraries/AP_InertialNav/AP_InertialNav_NavEKF.h

@@ -16,8 +16,8 @@ class AP_InertialNav_NavEKF : public AP_InertialNav
 {
 public:
     // Constructor
-    AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs, AP_Baro &baro, GPS_Glitch& gps_glitch) :
-        AP_InertialNav(ahrs),
+    AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs) :
+        AP_InertialNav(),
         _haveabspos(false),
         _ahrs_ekf(ahrs)
         {}