Sub: vehicle parent class now instantiates AHRS

5 years ago · d5b970bd18
1 changed files with 0 additions and 5 deletions
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@ -174,11 +174,6 @@ private:
				@@ -174,11 +174,6 @@ 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};
-
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
    SITL::SITL sitl;
 #endif