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DataFlash: fixes for INS API change

This commit is contained in:
Andrew Tridgell 2013-12-09 09:50:29 +11:00
parent a0688a69d4
commit a6b3d4217c
1 changed files with 2 additions and 4 deletions
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6
libraries/DataFlash/LogFile.cpp
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@ -708,10 +708,8 @@ void DataFlash_Class::Log_Write_IMU2(const AP_InertialSensor &ins)
if (ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) { if (ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) {
return; return;
} }
Vector3f gyro; const Vector3f &gyro = ins.get_gyro(1);
Vector3f accel; const Vector3f &accel = ins.get_accel(1);
ins.get_gyro_instance(1, gyro);
ins.get_accel_instance(1, accel);
struct log_IMU pkt = { struct log_IMU pkt = {
LOG_PACKET_HEADER_INIT(LOG_IMU2_MSG), LOG_PACKET_HEADER_INIT(LOG_IMU2_MSG),
timestamp : hal.scheduler->millis(), timestamp : hal.scheduler->millis(),