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Copter: vehicle parent class now instantiates AHRS

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Peter Barker 2019-11-25 10:19:29 +11:00 committed by Peter Barker
parent d5b970bd18
commit 62869b5be8
1 changed files with 1 additions and 4 deletions
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ArduCopter/Copter.h
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@ -318,10 +318,7 @@ private:
AP_RPM rpm_sensor;
#endif
// Inertial Navigation EKF
NavEKF2 EKF2{&ahrs, rangefinder};
NavEKF3 EKF3{&ahrs, rangefinder};
AP_AHRS_NavEKF ahrs{EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
// Inertial Navigation EKF - different viewpoint
AP_AHRS_View *ahrs_view;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL