From 9b8311580b5e9de97e3b11487aa2f97f67af9ae4 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 8 Feb 2014 19:11:37 +1100 Subject: [PATCH] AP_TECS: update for AHRS API change --- libraries/AP_TECS/AP_TECS.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp index ccb0e82565..f3aa7bb3be 100644 --- a/libraries/AP_TECS/AP_TECS.cpp +++ b/libraries/AP_TECS/AP_TECS.cpp @@ -151,9 +151,10 @@ void AP_TECS::update_50hz(float hgt_afe) _update_50hz_last_usec = now; // USe inertial nav verical velocity and height if available - if (_ahrs.have_inertial_nav()) { - _integ2_state = -_ahrs.get_velocity_NED().z; - _integ3_state = -_ahrs.get_relative_position_NED().z; + Vector3f posned, velned; + if (_ahrs.get_velocity_NED(velned) && _ahrs.get_relative_position_NED(posned)) { + _integ2_state = - velned.z; + _integ3_state = - posned.z; } else { // Get height acceleration float hgt_ddot_mea = -(_ahrs.get_accel_ef().z + GRAVITY_MSS);