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https://github.com/ArduPilot/ardupilot
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Sub: vehicle parent class now instantiates AHRS
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@ -174,11 +174,6 @@ private:
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AP_RPM rpm_sensor;
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#endif
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// Inertial Navigation EKF
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NavEKF2 EKF2{&ahrs, rangefinder};
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NavEKF3 EKF3{&ahrs, rangefinder};
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AP_AHRS_NavEKF ahrs{EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SITL::SITL sitl;
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#endif
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