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AP_Mount: cope with INS_MAX_INSTANCES below 3

This commit is contained in:
Andrew Tridgell 2020-11-07 17:43:32 +11:00
parent dab091a801
commit 021e305340
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_Mount/SoloGimbal.cpp
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@ -230,6 +230,7 @@ void SoloGimbal::readVehicleDeltaAngle(uint8_t ins_index, Vector3f &dAng) {
void SoloGimbal::update_fast() {
const AP_InertialSensor &ins = AP::ins();
#if INS_MAX_INSTANCES > 1
if (ins.use_gyro(0) && ins.use_gyro(1)) {
// dual gyro mode - average first two gyros
Vector3f dAng;
@ -237,7 +238,9 @@ void SoloGimbal::update_fast() {
_vehicle_delta_angles += dAng*0.5f;
readVehicleDeltaAngle(1, dAng);
_vehicle_delta_angles += dAng*0.5f;
} else {
} else
#endif
{
// single gyro mode - one of the first two gyros are unhealthy or don't exist
// just read primary gyro
Vector3f dAng;