From 565afc23ade80fa8baaa60b6952c4ce6d81459a2 Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Thu, 2 Feb 2017 22:17:44 -0500
Subject: [PATCH] Sub: Switch to AC_AttitudeControl_Sub

---
 ArduSub/Parameters.cpp | 4 ++--
 ArduSub/Sub.h          | 4 ++--
 ArduSub/make.inc       | 2 --
 3 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 855dd27d16..a860eef0e9 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -713,8 +713,8 @@ const AP_Param::Info Sub::var_info[] = {
 #endif
 
     // @Group: ATC_
-    // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
-    GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Multi),
+    // @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Sub.cpp
+    GOBJECT(attitude_control, "ATC_", AC_AttitudeControl_Sub),
 
     // @Group: PSC
     // @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index b51968facb..b5e3139228 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -55,7 +55,7 @@
 #include <AC_PID/AC_PID.h>             // PID library
 #include <AC_PID/AC_PI_2D.h>           // PID library (2-axis)
 #include <AC_PID/AC_P.h>               // P library
-#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h> // Attitude control library
+#include <AC_AttitudeControl/AC_AttitudeControl_Sub.h> // Attitude control library
 #include <AC_AttitudeControl/AC_PosControl.h>      // Position control library
 #include <RC_Channel/RC_Channel.h>         // RC Channel Library
 #include <AP_Motors/AP_Motors.h>          // AP Motors library
@@ -403,7 +403,7 @@ private:
 
     // Attitude, Position and Waypoint navigation objects
     // To-Do: move inertial nav up or other navigation variables down here
-    AC_AttitudeControl_Multi attitude_control;
+    AC_AttitudeControl_Sub attitude_control;
 
     AC_PosControl pos_control;
 
diff --git a/ArduSub/make.inc b/ArduSub/make.inc
index 5bedf380c9..67d4339df0 100644
--- a/ArduSub/make.inc
+++ b/ArduSub/make.inc
@@ -20,10 +20,8 @@ LIBRARIES += AP_Mission
 LIBRARIES += AP_Rally
 LIBRARIES += AC_PID
 LIBRARIES += AC_PI_2D
-LIBRARIES += AC_HELI_PID
 LIBRARIES += AC_P
 LIBRARIES += AC_AttitudeControl
-LIBRARIES += AC_AttitudeControl_Heli
 LIBRARIES += AC_PosControl
 LIBRARIES += RC_Channel
 LIBRARIES += AP_Motors