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ArduSub: make AHRS attitude member variables private

This commit is contained in:
Peter Barker 2024-01-12 23:40:24 +11:00 committed by Peter Barker
parent b3897c020e
commit 0275494042
1 changed files with 3 additions and 3 deletions
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6
ArduSub/turn_counter.cpp
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@ -8,11 +8,11 @@ void Sub::update_turn_counter()
// Determine state
// 0: 0-90 deg, 1: 90-180 deg, 2: -180--90 deg, 3: -90--0 deg
uint8_t turn_state;
if (ahrs.yaw >= 0.0f && ahrs.yaw < radians(90)) {
if (ahrs.get_yaw() >= 0.0f && ahrs.get_yaw() < radians(90)) {
turn_state = 0;
} else if (ahrs.yaw > radians(90)) {
} else if (ahrs.get_yaw() > radians(90)) {
turn_state = 1;
} else if (ahrs.yaw < -radians(90)) {
} else if (ahrs.get_yaw() < -radians(90)) {
turn_state = 2;
} else {
turn_state = 3;