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AC_WPNav: rename for AHRS restructuring

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Peter Barker 2021-07-20 22:16:29 +10:00 committed by Peter Barker
parent 63015e9e9a
commit 8396925ece
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_Loiter.cpp
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@ -209,7 +209,7 @@ void AC_Loiter::sanity_check_params()
void AC_Loiter::calc_desired_velocity(float nav_dt, bool avoidance_on) void AC_Loiter::calc_desired_velocity(float nav_dt, bool avoidance_on)
{ {
float ekfGndSpdLimit, ekfNavVelGainScaler; float ekfGndSpdLimit, ekfNavVelGainScaler;
AP::ahrs_navekf().getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler); AP::ahrs().getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
// calculate a loiter speed limit which is the minimum of the value set by the LOITER_SPEED // calculate a loiter speed limit which is the minimum of the value set by the LOITER_SPEED
// parameter and the value set by the EKF to observe optical flow limits // parameter and the value set by the EKF to observe optical flow limits