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Plane: vehicle parent class now instantiates AHRS

This commit is contained in:
Peter Barker 2019-11-25 10:19:35 +11:00 committed by Peter Barker
parent 62869b5be8
commit 71017cb288
1 changed files with 0 additions and 9 deletions
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9
ArduPlane/Plane.h
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@ -198,15 +198,6 @@ private:
AP_RPM rpm_sensor;
// Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, rangefinder};
NavEKF3 EKF3{&ahrs, rangefinder};
AP_AHRS_NavEKF ahrs{EKF2, EKF3};
#else
AP_AHRS_DCM ahrs;
#endif
AP_TECS TECS_controller{ahrs, aparm, landing};
AP_L1_Control L1_controller{ahrs, &TECS_controller};