From 74d22594db96636e27051d5eefc55cd9484144b9 Mon Sep 17 00:00:00 2001
From: Leonard Hall <leonardthall@gmail.com>
Date: Wed, 12 May 2021 13:31:07 +0900
Subject: [PATCH] Sub: integrate AC_PosControl::get_roll_cd rename

---
 ArduSub/motors.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ArduSub/motors.cpp b/ArduSub/motors.cpp
index 89e6566a1a..679f8bdd7e 100644
--- a/ArduSub/motors.cpp
+++ b/ArduSub/motors.cpp
@@ -167,8 +167,8 @@ void Sub::translate_circle_nav_rp(float &lateral_out, float &forward_out)
 void Sub::translate_pos_control_rp(float &lateral_out, float &forward_out)
 {
     // get roll and pitch targets in centidegrees
-    int32_t lateral = pos_control.get_roll();
-    int32_t forward = -pos_control.get_pitch(); // output is reversed
+    int32_t lateral = pos_control.get_roll_cd();
+    int32_t forward = -pos_control.get_pitch_cd(); // output is reversed
 
     // constrain target forward/lateral values
     lateral = constrain_int16(lateral, -aparm.angle_max, aparm.angle_max);