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AP_NavEKF2: rename ins get_primary_accel to get_first_usable_accel

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Peter Barker 2024-06-25 19:05:26 +10:00 committed by Andrew Tridgell
parent 8302e0d1e2
commit 025888a7d1
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -335,13 +335,13 @@ void NavEKF2_core::readIMUData()
if (ins.use_accel(imu_index)) { if (ins.use_accel(imu_index)) {
accel_active = imu_index; accel_active = imu_index;
} else { } else {
accel_active = ins.get_primary_accel(); accel_active = ins.get_first_usable_accel();
} }
if (ins.use_gyro(imu_index)) { if (ins.use_gyro(imu_index)) {
gyro_active = imu_index; gyro_active = imu_index;
} else { } else {
gyro_active = ins.get_primary_gyro(); gyro_active = ins.get_first_usable_gyro();
} }
if (gyro_active != gyro_index_active) { if (gyro_active != gyro_index_active) {