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ArduSub: move VehicleClass handling to AHRS frontend

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.... and renaming the enumeration while we're at it
This commit is contained in:
Peter Barker 2021-08-12 09:25:34 +10:00 committed by Andrew Tridgell
parent 515a994c59
commit 9f8d01827a
1 changed files with 1 additions and 1 deletions
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2
ArduSub/system.cpp
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@ -177,7 +177,7 @@ void Sub::startup_INS_ground()
{ {
// initialise ahrs (may push imu calibration into the mpu6000 if using that device). // initialise ahrs (may push imu calibration into the mpu6000 if using that device).
ahrs.init(); ahrs.init();
ahrs.set_vehicle_class(AHRS_VEHICLE_SUBMARINE); ahrs.set_vehicle_class(AP_AHRS::VehicleClass::SUBMARINE);
// Warm up and calibrate gyro offsets // Warm up and calibrate gyro offsets
ins.init(scheduler.get_loop_rate_hz()); ins.init(scheduler.get_loop_rate_hz());