From 774332ea02d93f76d0831449bd829072428f7422 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 12 Mar 2015 20:10:41 +0900
Subject: [PATCH] Replay: fixup after inertial nav and baro glitch removal

---
 Tools/Replay/Replay.pde | 8 +-------
 1 file changed, 1 insertion(+), 7 deletions(-)

diff --git a/Tools/Replay/Replay.pde b/Tools/Replay/Replay.pde
index 3a1728d974..9c5416ad79 100644
--- a/Tools/Replay/Replay.pde
+++ b/Tools/Replay/Replay.pde
@@ -35,12 +35,10 @@
 #include <DataFlash.h>
 #include <GCS_MAVLink.h>
 #include <AP_GPS.h>
-#include <AP_GPS_Glitch.h>
 #include <AP_AHRS.h>
 #include <SITL.h>
 #include <AP_Compass.h>
 #include <AP_Baro.h>
-#include <AP_Baro_Glitch.h>
 #include <AP_InertialSensor.h>
 #include <AP_InertialNav.h>
 #include <AP_NavEKF.h>
@@ -73,9 +71,7 @@ static AP_Baro barometer;
 static AP_GPS gps;
 static AP_Compass_HIL compass;
 static AP_AHRS_NavEKF ahrs(ins, barometer, gps);
-static GPS_Glitch gps_glitch(gps);
-static Baro_Glitch baro_glitch(barometer);
-static AP_InertialNav inertial_nav(ahrs, barometer, gps_glitch, baro_glitch);
+static AP_InertialNav_NavEKF inertial_nav(ahrs);
 static AP_Vehicle::FixedWing aparm;
 static AP_Airspeed airspeed(aparm);
 static DataFlash_File dataflash("logs");
@@ -219,7 +215,6 @@ void setup()
     barometer.setHIL(0);
     barometer.update();
     compass.init();
-    inertial_nav.init();
     ins.set_hil_mode();
 
     switch (update_rate) {
@@ -270,7 +265,6 @@ void setup()
                      hal.scheduler->millis()*0.001f);
             ahrs.set_home(loc);
             compass.set_initial_location(loc.lat, loc.lng);
-            inertial_nav.setup_home_position();
             done_home_init = true;
         }
     }