Sub: integrate ahrs::get_variances change

offset is no longer returned
4 years ago · 4bf4872504
1 changed files with 1 additions and 2 deletions
--- a/ArduSub/failsafe.cpp
+++ b/ArduSub/failsafe.cpp
@ -110,10 +110,9 @@ void Sub::failsafe_ekf_check()
				@@ -110,10 +110,9 @@ void Sub::failsafe_ekf_check()

    float posVar, hgtVar, tasVar;
    Vector3f magVar;
-    Vector2f offset;
    float compass_variance;
    float vel_variance;
-    ahrs.get_variances(vel_variance, posVar, hgtVar, magVar, tasVar, offset);
+    ahrs.get_variances(vel_variance, posVar, hgtVar, magVar, tasVar);
    compass_variance = magVar.length();

    if (compass_variance < g.fs_ekf_thresh && vel_variance < g.fs_ekf_thresh) {