mirror of https://github.com/ArduPilot/ardupilot
Rover: use ins singleton
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@ -172,7 +172,7 @@ void Rover::ahrs_update()
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}
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}
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if (should_log(MASK_LOG_IMU)) {
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if (should_log(MASK_LOG_IMU)) {
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DataFlash.Log_Write_IMU(ins);
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DataFlash.Log_Write_IMU();
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}
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}
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}
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}
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@ -243,7 +243,7 @@ void Rover::update_logging2(void)
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}
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}
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if (should_log(MASK_LOG_IMU)) {
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if (should_log(MASK_LOG_IMU)) {
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DataFlash.Log_Write_Vibration(ins);
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DataFlash.Log_Write_Vibration();
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}
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}
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}
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}
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@ -171,9 +171,9 @@ private:
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#if AP_AHRS_NAVEKF_AVAILABLE
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#if AP_AHRS_NAVEKF_AVAILABLE
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NavEKF2 EKF2{&ahrs, rangefinder};
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NavEKF2 EKF2{&ahrs, rangefinder};
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NavEKF3 EKF3{&ahrs, rangefinder};
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NavEKF3 EKF3{&ahrs, rangefinder};
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AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3};
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AP_AHRS_NavEKF ahrs{EKF2, EKF3};
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#else
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#else
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AP_AHRS_DCM ahrs{ins};
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AP_AHRS_DCM ahrs;
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#endif
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#endif
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// Arming/Disarming management class
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// Arming/Disarming management class
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