From 4d7e819bacec12f69b1be94c7f8c3f3af2194579 Mon Sep 17 00:00:00 2001
From: murata <ma2maru@gmail.com>
Date: Wed, 10 Aug 2022 02:58:53 +0900
Subject: [PATCH] AP_InertialSensor: Allow gyro counts to be returned

---
 libraries/AP_InertialSensor/AP_InertialSensor.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index eab4dc43e5..ee0b0046af 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -164,7 +164,7 @@ public:
     bool get_gyro_health(uint8_t instance) const { return (instance<_gyro_count) ? _gyro_healthy[instance] : false; }
     bool get_gyro_health(void) const { return get_gyro_health(_primary_gyro); }
     bool get_gyro_health_all(void) const;
-    uint8_t get_gyro_count(void) const { return MIN(INS_MAX_INSTANCES, _accel_count); }
+    uint8_t get_gyro_count(void) const { return MIN(INS_MAX_INSTANCES, _gyro_count); }
     bool gyro_calibrated_ok(uint8_t instance) const { return _gyro_cal_ok[instance]; }
     bool gyro_calibrated_ok_all() const;
     bool use_gyro(uint8_t instance) const;