From 3a4095fc7f0d1f79e55b3634c7f398587785b441 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 16 Nov 2020 14:34:01 +1100
Subject: [PATCH] AP_NavEKF2: use common structure names

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index d06561315b..243141c336 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -831,7 +831,7 @@ void NavEKF2::UpdateFilter(void)
 */
 void NavEKF2::checkLaneSwitch(void)
 {
-    AP::dal().log_event2(AP_DAL::Event2::checkLaneSwitch);
+    AP::dal().log_event2(AP_DAL::Event::checkLaneSwitch);
     const uint32_t now = AP::dal().millis();
     if (lastLaneSwitch_ms != 0 && now - lastLaneSwitch_ms < 5000) {
         // don't switch twice in 5 seconds
@@ -992,7 +992,7 @@ void NavEKF2::getTiltError(int8_t instance, float &ang) const
 // reset body axis gyro bias estimates
 void NavEKF2::resetGyroBias(void)
 {
-    AP::dal().log_event2(AP_DAL::Event2::resetGyroBias);
+    AP::dal().log_event2(AP_DAL::Event::resetGyroBias);
 
     if (core) {
         for (uint8_t i=0; i<num_cores; i++) {
@@ -1008,7 +1008,7 @@ void NavEKF2::resetGyroBias(void)
 // If using a range finder for height no reset is performed and it returns false
 bool NavEKF2::resetHeightDatum(void)
 {
-    AP::dal().log_event2(AP_DAL::Event2::resetHeightDatum);
+    AP::dal().log_event2(AP_DAL::Event::resetHeightDatum);
 
     bool status = true;
     if (core) {
@@ -1031,7 +1031,7 @@ bool NavEKF2::resetHeightDatum(void)
 // Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
 uint8_t NavEKF2::setInhibitGPS(void)
 {
-    AP::dal().log_event2(AP_DAL::Event2::setInhibitGPS);
+    AP::dal().log_event2(AP_DAL::Event::setInhibitGPS);
 
     if (!core) {
         return 0;
@@ -1043,9 +1043,9 @@ uint8_t NavEKF2::setInhibitGPS(void)
 // This can be used for situations where GPS velocity errors are causing problems with height accuracy
 void NavEKF2::setInhibitGpsVertVelUse(const bool varIn) {
     if (varIn) {
-        AP::dal().log_event2(AP_DAL::Event2::setInhibitGpsVertVelUse);
+        AP::dal().log_event2(AP_DAL::Event::setInhibitGpsVertVelUse);
     } else {
-        AP::dal().log_event2(AP_DAL::Event2::unsetInhibitGpsVertVelUse);
+        AP::dal().log_event2(AP_DAL::Event::unsetInhibitGpsVertVelUse);
     }
     inhibitGpsVertVelUse = varIn;
 };
@@ -1308,9 +1308,9 @@ bool NavEKF2::getRangeBeaconDebug(int8_t instance, uint8_t &ID, float &rng, floa
 void NavEKF2::setTakeoffExpected(bool val)
 {
     if (val) {
-        AP::dal().log_event2(AP_DAL::Event2::setTakeoffExpected);
+        AP::dal().log_event2(AP_DAL::Event::setTakeoffExpected);
     } else {
-        AP::dal().log_event2(AP_DAL::Event2::unsetTakeoffExpected);
+        AP::dal().log_event2(AP_DAL::Event::unsetTakeoffExpected);
     }
 
     if (core) {
@@ -1325,9 +1325,9 @@ void NavEKF2::setTakeoffExpected(bool val)
 void NavEKF2::setTouchdownExpected(bool val)
 {
     if (val) {
-        AP::dal().log_event2(AP_DAL::Event2::setTouchdownExpected);
+        AP::dal().log_event2(AP_DAL::Event::setTouchdownExpected);
     } else {
-        AP::dal().log_event2(AP_DAL::Event2::unsetTouchdownExpected);
+        AP::dal().log_event2(AP_DAL::Event::unsetTouchdownExpected);
     }
 
     if (core) {
@@ -1344,9 +1344,9 @@ void NavEKF2::setTouchdownExpected(bool val)
 void NavEKF2::setTerrainHgtStable(bool val)
 {
     if (val) {
-        AP::dal().log_event2(AP_DAL::Event2::setTerrainHgtStable);
+        AP::dal().log_event2(AP_DAL::Event::setTerrainHgtStable);
     } else {
-        AP::dal().log_event2(AP_DAL::Event2::unsetTerrainHgtStable);
+        AP::dal().log_event2(AP_DAL::Event::unsetTerrainHgtStable);
     }
     if (core) {
         for (uint8_t i=0; i<num_cores; i++) {
@@ -1696,7 +1696,7 @@ bool NavEKF2::isExtNavUsedForYaw() const
 
 void NavEKF2::requestYawReset(void)
 {
-    AP::dal().log_event2(AP_DAL::Event2::requestYawReset);
+    AP::dal().log_event2(AP_DAL::Event::requestYawReset);
 
     for (uint8_t i = 0; i < num_cores; i++) {
         core[i].EKFGSF_requestYawReset();