From 84c3c0d234416062ee4c9087159cac28e3180f2a Mon Sep 17 00:00:00 2001
From: Jacob Walser <jwalser90@gmail.com>
Date: Mon, 20 Feb 2017 13:30:35 -0500
Subject: [PATCH] Sub: Add support for AP_AHRS_View

---
 ArduSub/Sub.cpp | 9 +++++----
 ArduSub/Sub.h   | 2 ++
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index e6f2d8da10..bc601c0232 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -61,15 +61,16 @@ Sub::Sub(void) :
           condition_start(0),
           G_Dt(MAIN_LOOP_SECONDS),
           inertial_nav(ahrs),
-          attitude_control(ahrs, aparm, motors, MAIN_LOOP_SECONDS),
-          pos_control(ahrs, inertial_nav, motors, attitude_control,
+          ahrs_view(ahrs, ROTATION_NONE),
+          attitude_control(ahrs_view, aparm, motors, MAIN_LOOP_SECONDS),
+          pos_control(ahrs_view, inertial_nav, motors, attitude_control,
                       g.p_alt_hold, g.p_vel_z, g.pid_accel_z,
                       g.p_pos_xy, g.pi_vel_xy),
 #if AVOIDANCE_ENABLED == ENABLED
           avoid(ahrs, inertial_nav, fence, g2.proximity),
 #endif
-          wp_nav(inertial_nav, ahrs, pos_control, attitude_control),
-          circle_nav(inertial_nav, ahrs, pos_control),
+          wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
+          circle_nav(inertial_nav, ahrs_view, pos_control),
           pmTest1(0),
           fast_loopTimer(0),
           mainLoop_count(0),
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index ad002687df..edf3aadb4f 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -401,6 +401,8 @@ private:
     // Inertial Navigation
     AP_InertialNav_NavEKF inertial_nav;
 
+    AP_AHRS_View ahrs_view;
+
     // Attitude, Position and Waypoint navigation objects
     // To-Do: move inertial nav up or other navigation variables down here
     AC_AttitudeControl_Sub attitude_control;