From 7e5ac5b648ace40572f3b0524e341d4d76445a1a Mon Sep 17 00:00:00 2001
From: Josh Henderson <hendjoshsr71@gmail.com>
Date: Fri, 22 Jan 2021 00:27:28 -0500
Subject: [PATCH] ArduSub: Privatize AP_IntertialSensor Logging

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

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index c881415bbe..bd4cd3cdda 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -199,7 +199,7 @@ void Sub::ten_hz_logging_loop()
         pos_control.write_log();
     }
     if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {
-        logger.Write_Vibration();
+        AP::ins().Write_Vibration();
     }
     if (should_log(MASK_LOG_CTUN)) {
         attitude_control.control_monitor_log();
@@ -223,7 +223,7 @@ void Sub::twentyfive_hz_logging()
 
     // log IMU data if we're not already logging at the higher rate
     if (should_log(MASK_LOG_IMU) && !should_log(MASK_LOG_IMU_RAW)) {
-        logger.Write_IMU();
+        AP::ins().Write_IMU();
     }
 }