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Plane: removed duplicate rangefinder instance

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This commit is contained in:
Andrew Tridgell 2015-05-14 08:51:28 +10:00
parent 61c851885f
commit 7f488c1c9c
1 changed files with 3 additions and 7 deletions
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10
ArduPlane/ArduPlane.pde
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@ -191,7 +191,6 @@ static int32_t pitch_limit_min_cd;
// GPS driver // GPS driver
static AP_GPS gps; static AP_GPS gps;
static RangeFinder rng;
// flight modes convenience array // flight modes convenience array
static AP_Int8 *flight_modes = &g.flight_mode1; static AP_Int8 *flight_modes = &g.flight_mode1;
@ -206,9 +205,11 @@ AP_ADC_ADS7844 apm1_adc;
AP_InertialSensor ins; AP_InertialSensor ins;
static RangeFinder rangefinder;
// Inertial Navigation EKF // Inertial Navigation EKF
#if AP_AHRS_NAVEKF_AVAILABLE #if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF ahrs(ins, barometer, gps, rng); AP_AHRS_NavEKF ahrs(ins, barometer, gps, rangefinder);
#else #else
AP_AHRS_DCM ahrs(ins, barometer, gps); AP_AHRS_DCM ahrs(ins, barometer, gps);
#endif #endif
@ -268,11 +269,6 @@ static AP_SpdHgtControl *SpdHgt_Controller = &TECS_controller;
// a pin for reading the receiver RSSI voltage. // a pin for reading the receiver RSSI voltage.
static AP_HAL::AnalogSource *rssi_analog_source; static AP_HAL::AnalogSource *rssi_analog_source;
////////////////////////////////////////////////////////////////////////////////
// rangefinder
////////////////////////////////////////////////////////////////////////////////
static RangeFinder rangefinder;
static struct { static struct {
bool in_range; bool in_range;
float correction; float correction;