From 62869b5be8fe42aed652bddf57d4d7880f952058 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 25 Nov 2019 10:19:29 +1100 Subject: [PATCH] Copter: vehicle parent class now instantiates AHRS --- ArduCopter/Copter.h | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h index 4a2816c761..5b96f6e2a5 100644 --- a/ArduCopter/Copter.h +++ b/ArduCopter/Copter.h @@ -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