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AP_AHRS: use ins singleton

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Lucas De Marchi 2018-03-10 23:21:02 -08:00 committed by Lucas De Marchi
parent 52882d11fa
commit 517f71c183
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
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@ -28,14 +28,14 @@ public:
RangeFinder sonar{serial_manager, ROTATION_PITCH_270};
NavEKF2 EKF2{&ahrs, sonar};
NavEKF3 EKF3{&ahrs, sonar};
AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3,
AP_AHRS_NavEKF ahrs{EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
};
static DummyVehicle vehicle;
// choose which AHRS system to use
// AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, barometer, gps);
// AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(barometer, gps);
AP_AHRS_NavEKF &ahrs = vehicle.ahrs;
void setup(void)