Copter: vehicle parent class now instantiates AHRS

5 years ago · 62869b5be8
1 changed files with 1 additions and 4 deletions
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@ -318,10 +318,7 @@ private:
				@@ -318,10 +318,7 @@ private:
    AP_RPM rpm_sensor;
 #endif

-    // Inertial Navigation EKF
-    NavEKF2 EKF2{&ahrs, rangefinder};
-    NavEKF3 EKF3{&ahrs, rangefinder};
-    AP_AHRS_NavEKF ahrs{EKF2, EKF3, AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    // Inertial Navigation EKF - different viewpoint
    AP_AHRS_View *ahrs_view;

 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL