From 9ac0514e8ebdd42e22cd0846cfb03d8ad1accfa2 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Wed, 4 Jan 2023 20:51:59 -0800
Subject: [PATCH] AP_AHRS: move AP_NMEA_OUTPUT to a first class library

---
 libraries/AP_AHRS/AP_AHRS.cpp | 11 -----------
 libraries/AP_AHRS/AP_AHRS.h   |  5 -----
 2 files changed, 16 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 4c8d6b2346..4aa60860cc 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -236,10 +236,6 @@ void AP_AHRS::init()
     // init backends
     dcm.init();
 
-#if HAL_NMEA_OUTPUT_ENABLED
-    _nmea_out = AP_NMEA_Output::probe();
-#endif
-
 #if !APM_BUILD_TYPE(APM_BUILD_AP_Periph)
     // convert to new custom rotaton
     // PARAMETER_CONVERSION - Added: Nov-2021
@@ -390,13 +386,6 @@ void AP_AHRS::update(bool skip_ins_update)
     // update AOA and SSA
     update_AOA_SSA();
 
-#if HAL_NMEA_OUTPUT_ENABLED
-    // update NMEA output
-    if (_nmea_out != nullptr) {
-        _nmea_out->update();
-    }
-#endif
-
     EKFType active = active_EKF_type();
     if (active != last_active_ekf_type) {
         last_active_ekf_type = active;
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index f38e7056d9..fc2fca819d 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -37,7 +37,6 @@ class AP_AHRS_View;
 
 #define AP_AHRS_NAVEKF_SETTLE_TIME_MS 20000     // time in milliseconds the ekf needs to settle after being started
 
-#include <AP_NMEA_Output/AP_NMEA_Output.h>
 
 // fwd declare GSF estimator
 class EKFGSF_yaw;
@@ -823,10 +822,6 @@ private:
     void Write_AHRS2(void) const;
     // write POS (canonical vehicle position) message out:
     void Write_POS(void) const;
-
-#if HAL_NMEA_OUTPUT_ENABLED
-    class AP_NMEA_Output* _nmea_out;
-#endif
 };
 
 namespace AP {