From f1917dddd0cd349bc5af0c91580f250fd7c74718 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 12 Feb 2017 09:34:00 +1100 Subject: [PATCH] Copter: changes for AC_WPNav --- ArduCopter/system.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp index e94b176755..7d17422ccd 100644 --- a/ArduCopter/system.cpp +++ b/ArduCopter/system.cpp @@ -607,13 +607,13 @@ void Copter::allocate_motors(void) } AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info); - wp_nav = new AC_WPNav(inertial_nav, ahrs, *pos_control, *attitude_control); + wp_nav = new AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control); if (wp_nav == nullptr) { AP_HAL::panic("Unable to allocate WPNav"); } AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info); - circle_nav = new AC_Circle(inertial_nav, ahrs, *pos_control); + circle_nav = new AC_Circle(inertial_nav, *ahrs_view, *pos_control); if (wp_nav == nullptr) { AP_HAL::panic("Unable to allocate CircleNav"); }