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Rover: use ins singleton

This commit is contained in:
Peter Barker 2018-03-10 21:13:44 +11:00 committed by Lucas De Marchi
parent f0daf392a5
commit ceb64fb7d9
2 changed files with 4 additions and 4 deletions
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4
APMrover2/APMrover2.cpp
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@ -172,7 +172,7 @@ void Rover::ahrs_update()
} }
if (should_log(MASK_LOG_IMU)) { if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU(ins); DataFlash.Log_Write_IMU();
} }
} }
@ -243,7 +243,7 @@ void Rover::update_logging2(void)
} }
if (should_log(MASK_LOG_IMU)) { if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_Vibration(ins); DataFlash.Log_Write_Vibration();
} }
} }

4
APMrover2/Rover.h
View File

@ -171,9 +171,9 @@ private:
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
NavEKF2 EKF2{&ahrs, rangefinder}; NavEKF2 EKF2{&ahrs, rangefinder};
NavEKF3 EKF3{&ahrs, rangefinder}; NavEKF3 EKF3{&ahrs, rangefinder};
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
// Arming/Disarming management class // Arming/Disarming management class