Browse Source

AP_AHRS: use ins singleton

mission-4.1.18
Lucas De Marchi 7 years ago committed by Lucas De Marchi
parent
commit
517f71c183
  1. 4
      libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp

4
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp

@ -28,14 +28,14 @@ public: @@ -28,14 +28,14 @@ public:
RangeFinder sonar{serial_manager, ROTATION_PITCH_270};
NavEKF2 EKF2{&ahrs, sonar};
NavEKF3 EKF3{&ahrs, sonar};
AP_AHRS_NavEKF ahrs{ins, EKF2, EKF3,
AP_AHRS_NavEKF ahrs{EKF2, EKF3,
AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
};
static DummyVehicle vehicle;
// choose which AHRS system to use
// AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(ins, barometer, gps);
// AP_AHRS_DCM ahrs = AP_AHRS_DCM::create(barometer, gps);
AP_AHRS_NavEKF &ahrs = vehicle.ahrs;
void setup(void)

Loading…
Cancel
Save