From 243e095b4e3cb79b2e45845bdf292a32f53aef61 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 25 Jun 2024 19:05:25 +1000
Subject: [PATCH] AP_DAL: rename ins get_primary_accel to
 get_first_usable_accel

---
 libraries/AP_DAL/AP_DAL_InertialSensor.cpp | 4 ++--
 libraries/AP_DAL/AP_DAL_InertialSensor.h   | 4 ++--
 libraries/AP_DAL/LogStructure.h            | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_DAL/AP_DAL_InertialSensor.cpp b/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
index 136e905f52..6d0425a2aa 100644
--- a/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
+++ b/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
@@ -18,9 +18,9 @@ void AP_DAL_InertialSensor::start_frame()
     const log_RISH old_RISH = _RISH;
 
     _RISH.loop_rate_hz = ins.get_loop_rate_hz();
-    _RISH.primary_gyro = ins.get_primary_gyro();
+    _RISH.first_usable_gyro = ins.get_first_usable_gyro();
     _RISH.loop_delta_t = ins.get_loop_delta_t();
-    _RISH.primary_accel = ins.get_primary_accel();
+    _RISH.first_usable_accel = ins.get_first_usable_accel();
     _RISH.accel_count = ins.get_accel_count();
     _RISH.gyro_count = ins.get_gyro_count();
     WRITE_REPLAY_BLOCK_IFCHANGED(RISH, _RISH, old_RISH);
diff --git a/libraries/AP_DAL/AP_DAL_InertialSensor.h b/libraries/AP_DAL/AP_DAL_InertialSensor.h
index aa0943b2b7..44361e99bd 100644
--- a/libraries/AP_DAL/AP_DAL_InertialSensor.h
+++ b/libraries/AP_DAL/AP_DAL_InertialSensor.h
@@ -18,7 +18,7 @@ public:
 
     // accel stuff
     uint8_t get_accel_count(void) const { return _RISH.accel_count; }
-    uint8_t get_primary_accel(void) const { return _RISH.primary_accel; };
+    uint8_t get_first_usable_accel(void) const { return _RISH.first_usable_accel; };
 
     bool use_accel(uint8_t instance) const { return _RISI[instance].use_accel; }
     const Vector3f     &get_accel(uint8_t i) const { return accel_filtered[i]; }
@@ -30,7 +30,7 @@ public:
 
     // gyro stuff
     uint8_t get_gyro_count(void) const { return _RISH.gyro_count; }
-    uint8_t get_primary_gyro(void) const { return _RISH.primary_gyro; };
+    uint8_t get_first_usable_gyro(void) const { return _RISH.first_usable_gyro; };
 
     bool use_gyro(uint8_t instance) const { return _RISI[instance].use_gyro; }
     const Vector3f     &get_gyro(uint8_t i) const { return gyro_filtered[i]; }
diff --git a/libraries/AP_DAL/LogStructure.h b/libraries/AP_DAL/LogStructure.h
index 14942768f3..873251c7dd 100644
--- a/libraries/AP_DAL/LogStructure.h
+++ b/libraries/AP_DAL/LogStructure.h
@@ -76,8 +76,8 @@ struct log_RFRN {
 // Replay Data Structure - Inertial Sensor header
 struct log_RISH {
     uint16_t loop_rate_hz;
-    uint8_t primary_gyro;
-    uint8_t primary_accel;
+    uint8_t first_usable_gyro;
+    uint8_t first_usable_accel;
     float loop_delta_t;
     uint8_t accel_count;
     uint8_t gyro_count;