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ACM: use a NULL gps pointer in DCM init 

current DCM API does need a GPS reference passed in, but it can be
NULL
This commit is contained in:
Andrew Tridgell 2012-02-25 15:08:42 +11:00
parent f59297d7a7
commit e2bbc795ad
1 changed files with 4 additions and 2 deletions
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6
ArduCopter/ArduCopter.pde
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@ -220,8 +220,10 @@ AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
AP_InertialSensor_Oilpan ins(&adc);
#endif
AP_IMU_INS imu(&ins);
// we don't want to use gps for yaw correction on ArduCopter
AP_DCM dcm(&imu, NULL);
// we don't want to use gps for yaw correction on ArduCopter, so pass
// a NULL GPS object pointer
static GPS *g_gps_null;
AP_DCM dcm(&imu, g_gps_null);
AP_TimerProcess timer_scheduler;
#elif HIL_MODE == HIL_MODE_SENSORS