From 373b8be7ef60b9de87a2560ce4d1604c52bfc921 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 10 Dec 2019 20:34:25 +1100 Subject: [PATCH] AP_Vehicle: move EKF objects into AP_AHRS_NavEKF --- libraries/AP_Vehicle/AP_Vehicle.h | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h index 8a5f45d5b0..c71cf2afe1 100644 --- a/libraries/AP_Vehicle/AP_Vehicle.h +++ b/libraries/AP_Vehicle/AP_Vehicle.h @@ -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