From 025888a7d17e0de81d553cf53b20ee7d53ae8740 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 25 Jun 2024 19:05:26 +1000
Subject: [PATCH] AP_NavEKF2: rename ins get_primary_accel to
 get_first_usable_accel

---
 libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 33f822b717..d2608d60c2 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -335,13 +335,13 @@ void NavEKF2_core::readIMUData()
     if (ins.use_accel(imu_index)) {
         accel_active = imu_index;
     } else {
-        accel_active = ins.get_primary_accel();
+        accel_active = ins.get_first_usable_accel();
     }
 
     if (ins.use_gyro(imu_index)) {
         gyro_active = imu_index;
     } else {
-        gyro_active = ins.get_primary_gyro();
+        gyro_active = ins.get_first_usable_gyro();
     }
 
     if (gyro_active != gyro_index_active) {