From 517f71c183ac4c261644ddf0429a234035184458 Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Sat, 10 Mar 2018 23:21:02 -0800 Subject: [PATCH] AP_AHRS: use ins singleton --- libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp index 22590e5aea..b3cc4a953e 100644 --- a/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp +++ b/libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp @@ -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)