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AP_Mount: remove separate calls to get delta-times for vel and ang

This commit is contained in:
Peter Barker 2021-02-12 08:34:37 +11:00 committed by Peter Barker
parent 2b0bf45891
commit 5c31238f28
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Mount/SoloGimbal.cpp
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@ -221,7 +221,8 @@ void SoloGimbal::readVehicleDeltaAngle(uint8_t ins_index, Vector3f &dAng) {
const AP_InertialSensor &ins = AP::ins(); const AP_InertialSensor &ins = AP::ins();
if (ins_index < ins.get_gyro_count()) { if (ins_index < ins.get_gyro_count()) {
if (!ins.get_delta_angle(ins_index,dAng)) { float dAng_dt;
if (!ins.get_delta_angle(ins_index,dAng, dAng_dt)) {
dAng = ins.get_gyro(ins_index) / ins.get_loop_rate_hz(); dAng = ins.get_gyro(ins_index) / ins.get_loop_rate_hz();
} }
} }