Tracker: vehicle parent class now instantiates AHRS

5 years ago · 16103f08d8
1 changed files with 0 additions and 9 deletions
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@ -90,15 +90,6 @@ private:
				@@ -90,15 +90,6 @@ private:

    AP_Logger logger;

-// Inertial Navigation EKF
-#if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF2 EKF2{&ahrs, rangefinder};
-    NavEKF3 EKF3{&ahrs, rangefinder};
-    AP_AHRS_NavEKF ahrs{EKF2, EKF3};
-#else
-    AP_AHRS_DCM ahrs;
-#endif
-
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    SITL::SITL sitl;
 #endif