Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_PrecLand: rename for AHRS restructuring

This commit is contained in:
Peter Barker 2021-07-20 22:16:28 +10:00 committed by Peter Barker
parent 5046083863
commit 6aba6c83c6
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_PrecLand/AC_PrecLand.cpp
View File

@ -193,7 +193,7 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid)
// append current velocity and attitude correction into history buffer
struct inertial_data_frame_s inertial_data_newest;
const AP_AHRS_NavEKF &_ahrs = AP::ahrs_navekf();
const AP_AHRS &_ahrs = AP::ahrs();
_ahrs.getCorrectedDeltaVelocityNED(inertial_data_newest.correctedVehicleDeltaVelocityNED, inertial_data_newest.dt);
inertial_data_newest.Tbn = _ahrs.get_rotation_body_to_ned();
Vector3f curr_vel;