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AP_Landing: use GPS singleton

This commit is contained in:
Peter Barker 2017-12-02 10:46:00 +11:00 committed by Francisco Ferreira
parent d1d5a484ce
commit a4584431a2
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Landing/AP_Landing_Slope.cpp
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@ -96,18 +96,18 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
if (type_slope_stage != SLOPE_STAGE_FINAL) {
type_slope_flags.post_stats = true;
if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)ahrs.get_gps().ground_speed());
gcs().send_text(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)AP::gps().ground_speed());
} else {
gcs().send_text(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
(double)height, (double)sink_rate,
(double)ahrs.get_gps().ground_speed(),
(double)AP::gps().ground_speed(),
(double)get_distance(current_loc, next_WP_loc));
}
type_slope_stage = SLOPE_STAGE_FINAL;
}
if (ahrs.get_gps().ground_speed() < 3) {
if (AP::gps().ground_speed() < 3) {
// reload any airspeed or groundspeed parameters that may have
// been set for landing. We don't do this till ground
// speed drops below 3.0 m/s as otherwise we will change