AntennaTracker: changes for new AHRS API

10 years ago · fdc0839aaa
1 changed files with 2 additions and 1 deletions
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@ -116,7 +116,8 @@ private:
				@@ -116,7 +116,8 @@ private:

 // Inertial Navigation EKF
 #if AP_AHRS_NAVEKF_AVAILABLE
-    AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng};
+    NavEKF EKF{&ahrs, barometer, rng};
+    AP_AHRS_NavEKF ahrs{ins, barometer, gps, rng, EKF};
 #else
    AP_AHRS_DCM ahrs{ins, barometer, gps};
 #endif