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Plane: AP_AHRS no longer requires GPS in constructor

This commit is contained in:
Peter Barker 2017-12-02 12:04:14 +11:00 committed by Francisco Ferreira
parent dda38d65eb
commit c4c6b3cc70
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/Plane.h
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@ -215,9 +215,9 @@ private:
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, barometer, rangefinder}; NavEKF2 EKF2{&ahrs, barometer, rangefinder};
NavEKF3 EKF3{&ahrs, barometer, rangefinder}; NavEKF3 EKF3{&ahrs, barometer, rangefinder};
AP_AHRS_NavEKF ahrs{ins, barometer, gps, EKF2, EKF3}; AP_AHRS_NavEKF ahrs{ins, barometer, EKF2, EKF3};
#else #else
AP_AHRS_DCM ahrs{ins, barometer, gps}; AP_AHRS_DCM ahrs{ins, barometer};
#endif #endif
AP_TECS TECS_controller{ahrs, aparm, landing, g2.soaring_controller}; AP_TECS TECS_controller{ahrs, aparm, landing, g2.soaring_controller};