Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 08:38:36 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mount: use ins singleton

Browse Source
This commit is contained in:
Peter Barker 2018-03-10 20:35:27 +11:00 committed by Lucas De Marchi
parent f0d06e7a9c
commit 9f556197a0
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Mount/SoloGimbal.cpp
View File

@ -209,7 +209,7 @@ void SoloGimbal::update_estimators()
}
void SoloGimbal::readVehicleDeltaAngle(uint8_t ins_index, Vector3f &dAng) {
const AP_InertialSensor &ins = _ahrs.get_ins();
const AP_InertialSensor &ins = AP::ins();
if (ins_index < ins.get_gyro_count()) {
if (!ins.get_delta_angle(ins_index,dAng)) {
@ -219,7 +219,7 @@ void SoloGimbal::readVehicleDeltaAngle(uint8_t ins_index, Vector3f &dAng) {
}
void SoloGimbal::update_fast() {
const AP_InertialSensor &ins = _ahrs.get_ins();
const AP_InertialSensor &ins = AP::ins();
if (ins.get_gyro_health(0) && ins.get_gyro_health(1)) {
// dual gyro mode - average first two gyros