From 35c111a63a031dc7798654ee579d01e611205533 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 31 Mar 2014 19:11:11 +1100 Subject: [PATCH] AP_AHRS: fixed example build --- libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde index d4e8299f4b..0d620ae250 100644 --- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde +++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.pde @@ -48,12 +48,10 @@ AP_InertialSensor_HIL ins; AP_Compass_HMC5843 compass; -GPS *g_gps; - -AP_GPS_Auto g_gps_driver(&g_gps); +AP_GPS gps; // choose which AHRS system to use -AP_AHRS_DCM ahrs(ins, baro, g_gps); +AP_AHRS_DCM ahrs(ins, baro, gps); AP_Baro_HIL barometer; @@ -82,10 +80,7 @@ void setup(void) } else { hal.console->printf("No compass detected\n"); } - g_gps = &g_gps_driver; -#if WITH_GPS - g_gps->init(hal.uartB); -#endif + gps.init(NULL); } void loop(void)