From 6440cabffa9899196acbe33d08847bc7b79948b1 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Wed, 19 Jul 2023 14:07:31 +0100
Subject: [PATCH] Copter: use base class AC_AttitudeControl object

---
 ArduCopter/Copter.h | 8 +-------
 ArduCopter/mode.h   | 2 +-
 2 files changed, 2 insertions(+), 8 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 0827e2a09ca9e7..e702b96dbb10c1 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -77,12 +77,6 @@
 #include "defines.h"
 #include "config.h"
 
-#if FRAME_CONFIG == HELI_FRAME
-    #define AC_AttitudeControl_t AC_AttitudeControl_Heli
-#else
-    #define AC_AttitudeControl_t AC_AttitudeControl_Multi
-#endif
-
 #if FRAME_CONFIG == HELI_FRAME
  #define MOTOR_CLASS AP_MotorsHeli
 #else
@@ -485,7 +479,7 @@ class Copter : public AP_Vehicle {
 
     // Attitude, Position and Waypoint navigation objects
     // To-Do: move inertial nav up or other navigation variables down here
-    AC_AttitudeControl_t *attitude_control;
+    AC_AttitudeControl *attitude_control;
     AC_PosControl *pos_control;
     AC_WPNav *wp_nav;
     AC_Loiter *loiter_nav;
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 3de08e4766a69f..fb787077b90594 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -241,7 +241,7 @@ class Mode {
     AC_PosControl *&pos_control;
     AP_InertialNav &inertial_nav;
     AP_AHRS &ahrs;
-    AC_AttitudeControl_t *&attitude_control;
+    AC_AttitudeControl *&attitude_control;
     MOTOR_CLASS *&motors;
     RC_Channel *&channel_roll;
     RC_Channel *&channel_pitch;