AP_Mount: make AHRS attitude member variables private

libraries/AP_Mount/AP_Mount_Backend.cpp

@@ -413,7 +413,7 @@ bool AP_Mount_Backend::handle_global_position_int(uint8_t msg_sysid, const mavli
 void AP_Mount_Backend::write_log(uint64_t timestamp_us)
 {
     // return immediately if no yaw estimate
-    float ahrs_yaw = AP::ahrs().yaw;
+    float ahrs_yaw = AP::ahrs().get_yaw();
     if (isnan(ahrs_yaw)) {
         return;
     }
@@ -734,7 +734,7 @@ float AP_Mount_Backend::MountTarget::get_bf_yaw() const
 {
     if (yaw_is_ef) {
         // convert to body-frame
-        return wrap_PI(yaw - AP::ahrs().yaw);
+        return wrap_PI(yaw - AP::ahrs().get_yaw());
     }
 
     // target is already body-frame
@@ -750,7 +750,7 @@ float AP_Mount_Backend::MountTarget::get_ef_yaw() const
     }
 
     // convert to earth-frame
-    return wrap_PI(yaw + AP::ahrs().yaw);
+    return wrap_PI(yaw + AP::ahrs().get_yaw());
 }
 
 // sets roll, pitch, yaw and yaw_is_ef

libraries/AP_Mount/AP_Mount_Servo.cpp

@@ -160,7 +160,7 @@ void AP_Mount_Servo::update_angle_outputs(const MountTarget& angle_rad)
     }
 
     // retrieve lean angles from ahrs
-    Vector2f ahrs_angle_rad = {ahrs.roll, ahrs.pitch};
+    Vector2f ahrs_angle_rad = {ahrs.get_roll(), ahrs.get_pitch()};
 
     // rotate ahrs roll and pitch angles to gimbal yaw
     if (has_pan_control()) {
@@ -174,7 +174,7 @@ void AP_Mount_Servo::update_angle_outputs(const MountTarget& angle_rad)
     // lead filter
     const Vector3f &gyro = ahrs.get_gyro();
 
-    if (!is_zero(_params.roll_stb_lead) && fabsf(ahrs.pitch) < M_PI/3.0f) {
+    if (!is_zero(_params.roll_stb_lead) && fabsf(ahrs.get_pitch()) < M_PI/3.0f) {
         // Compute rate of change of euler roll angle
         float roll_rate = gyro.x + (ahrs.sin_pitch() / ahrs.cos_pitch()) * (gyro.y * ahrs.sin_roll() + gyro.z * ahrs.cos_roll());
         _angle_bf_output_rad.x -= roll_rate * _params.roll_stb_lead;

libraries/AP_Mount/AP_Mount_Siyi.cpp

@@ -709,7 +709,7 @@ void AP_Mount_Siyi::send_target_angles(float pitch_rad, float yaw_rad, bool yaw_
     const float pitch_rate_scalar = constrain_float(100.0 * pitch_err_rad * AP_MOUNT_SIYI_PITCH_P / AP_MOUNT_SIYI_RATE_MAX_RADS, -100, 100);
 
     // convert yaw angle to body-frame
-    float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().yaw) : yaw_rad;
+    float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().get_yaw()) : yaw_rad;
 
     // enforce body-frame yaw angle limits.  If beyond limits always use body-frame control
     const float yaw_bf_min = radians(_params.yaw_angle_min);
@@ -1127,9 +1127,9 @@ void AP_Mount_Siyi::send_attitude(void)
     const uint32_t now_ms = AP_HAL::millis();
 
     attitude.time_boot_ms = now_ms;
-    attitude.roll = ahrs.roll;
-    attitude.pitch = ahrs.pitch;
-    attitude.yaw = ahrs.yaw;
+    attitude.roll = ahrs.get_roll();
+    attitude.pitch = ahrs.get_pitch();
+    attitude.yaw = ahrs.get_yaw();
     attitude.rollspeed = gyro.x;
     attitude.pitchspeed = gyro.y;
     attitude.yawspeed = gyro.z;

libraries/AP_Mount/AP_Mount_Viewpro.cpp

@@ -544,7 +544,7 @@ bool AP_Mount_Viewpro::send_target_angles(float pitch_rad, float yaw_rad, bool y
     }
 
     // convert yaw angle to body-frame
-    float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().yaw) : yaw_rad;
+    float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().get_yaw()) : yaw_rad;
 
     // enforce body-frame yaw angle limits.  If beyond limits always use body-frame control
     const float yaw_bf_min = radians(_params.yaw_angle_min);

libraries/AP_Mount/AP_Mount_Xacti.cpp

@@ -379,7 +379,7 @@ void AP_Mount_Xacti::send_target_rates(float pitch_rads, float yaw_rads, bool ya
 void AP_Mount_Xacti::send_target_angles(float pitch_rad, float yaw_rad, bool yaw_is_ef)
 {
     // convert yaw to body frame
-    const float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().yaw) : yaw_rad;
+    const float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().get_yaw()) : yaw_rad;
 
     // send angle target to gimbal
     send_gimbal_control(2, degrees(pitch_rad) * 100, degrees(yaw_bf_rad) * 100);