From d5b970bd18b45817a174cbda234e1651c0c0845d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 25 Nov 2019 10:15:50 +1100
Subject: [PATCH] Sub: vehicle parent class now instantiates AHRS

---
 ArduSub/Sub.h | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index ede84d300d..0b96004414 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -174,11 +174,6 @@ private:
     AP_RPM rpm_sensor;
 #endif
 
-    // Inertial Navigation EKF
-    NavEKF2 EKF2{&ahrs, rangefinder};
-    NavEKF3 EKF3{&ahrs, rangefinder};
-    AP_AHRS_NavEKF ahrs{EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
-
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     SITL::SITL sitl;
 #endif