From 29d2eed9e4555ee4aaa0e979f1d0caae89deb0c9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 26 Aug 2021 14:55:18 +1000
Subject: [PATCH] Sub: view update does not take skip_ins_update

---
 ArduSub/ArduSub.cpp                 | 2 +-
 libraries/AP_AHRS/AP_AHRS.cpp       | 2 +-
 libraries/AP_AHRS/AP_AHRS_Backend.h | 2 +-
 libraries/AP_AHRS/AP_AHRS_DCM.cpp   | 2 +-
 libraries/AP_AHRS/AP_AHRS_DCM.h     | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 59bb1b2749..91d9cd328a 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -293,7 +293,7 @@ void Sub::read_AHRS()
     //-----------------------------------------------
     // <true> tells AHRS to skip INS update as we have already done it in fast_loop()
     ahrs.update(true);
-    ahrs_view.update(true);
+    ahrs_view.update();
 }
 
 // read baro and rangefinder altitude at 10hz
diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 10239a50ae..18ce1af884 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -410,7 +410,7 @@ void AP_AHRS::update_DCM()
     yaw = _dcm_attitude.z;
     update_cd_values();
 
-    AP_AHRS_DCM::update();
+    AP_AHRS_DCM::_update();
 
     // keep DCM attitude available for get_secondary_attitude()
     _dcm_attitude = {roll, pitch, yaw};
diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.h b/libraries/AP_AHRS/AP_AHRS_Backend.h
index a5732b4a17..0b6f75706e 100644
--- a/libraries/AP_AHRS/AP_AHRS_Backend.h
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.h
@@ -78,7 +78,7 @@ public:
     }
 
     // Methods
-    virtual void update() = 0;
+    virtual void _update() = 0;
 
     // returns false if we fail arming checks, in which case the buffer will be populated with a failure message
     // requires_position should be true if horizontal position configuration should be checked
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index 851e39262d..b3cf473e52 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -65,7 +65,7 @@ void AP_AHRS::load_watchdog_home()
 
 // run a full DCM update round
 void
-AP_AHRS_DCM::update()
+AP_AHRS_DCM::_update()
 {
     AP_InertialSensor &_ins = AP::ins();
 
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index 029bde0df2..f2b5bb7383 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -58,7 +58,7 @@ public:
     void reset_gyro_drift() override;
 
     // Methods
-    void            update() override;
+    void            _update() override;
     void            reset(bool recover_eulers = false) override;
 
     // return true if yaw has been initialised