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Sub: vehicle parent class now instantiates AHRS

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Peter Barker 2019-11-25 10:15:50 +11:00 committed by Peter Barker
parent 16103f08d8
commit d5b970bd18
1 changed files with 0 additions and 5 deletions
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ArduSub/Sub.h
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@ -174,11 +174,6 @@ private:
AP_RPM rpm_sensor; AP_RPM rpm_sensor;
#endif #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 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL sitl; SITL::SITL sitl;
#endif #endif