From acb48859891f91ae48e8c34f3f9177999a4b3d97 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 16 Jan 2016 15:41:34 +1100
Subject: [PATCH] AP_NavEKF2: use get_delta_angle_dt() API

---
 libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 6a3aacbd8c..5d728b65fc 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -251,7 +251,7 @@ void NavEKF2_core::readIMUData()
     } else {
         readDeltaAngle(ins.get_primary_gyro(), imuDataNew.delAng);
     }
-    imuDataNew.delAngDT = MAX(ins.get_delta_time(),1.0e-4f);
+    imuDataNew.delAngDT = MAX(ins.get_delta_angle_dt(imu_index),1.0e-4f);
 
     // Get current time stamp
     imuDataNew.time_ms = imuSampleTime_ms;