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Tracker: use ins singleton

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This commit is contained in:
Peter Barker 2018-03-10 21:13:53 +11:00 committed by Lucas De Marchi
parent ceb64fb7d9
commit a0b35cfa25
2 changed files with 3 additions and 3 deletions
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2
AntennaTracker/AntennaTracker.cpp
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@ -109,7 +109,7 @@ void Tracker::one_second_loop()
void Tracker::ten_hz_logging_loop() void Tracker::ten_hz_logging_loop()
{ {
if (should_log(MASK_LOG_IMU)) { if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU(ins); DataFlash.Log_Write_IMU();
} }
if (should_log(MASK_LOG_ATTITUDE)) { if (should_log(MASK_LOG_ATTITUDE)) {
Log_Write_Attitude(); Log_Write_Attitude();

4
AntennaTracker/Tracker.h
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@ -118,9 +118,9 @@ private:
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, rng}; NavEKF2 EKF2{&ahrs, rng};
NavEKF3 EKF3{&ahrs, rng}; NavEKF3 EKF3{&ahrs, rng};
AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3}; AP_AHRS_NavEKF ahrs{EKF2, EKF3};
#else #else
AP_AHRS_DCM ahrs{ins}; AP_AHRS_DCM ahrs;
#endif #endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL