AP_Vehicle: move EKF objects into AP_AHRS_NavEKF

5 years ago · 373b8be7ef
1 changed files with 1 additions and 3 deletions
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@ -183,9 +183,7 @@ protected:
				@@ -183,9 +183,7 @@ protected:

    // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    NavEKF2 EKF2{&ahrs};
-    NavEKF3 EKF3{&ahrs};
-    AP_AHRS_NavEKF ahrs{EKF2, EKF3};
+    AP_AHRS_NavEKF ahrs;
 #else
    AP_AHRS_DCM ahrs;
 #endif