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AP_NavEKF2: use get_delta_angle_dt() API

This commit is contained in:
Andrew Tridgell 2016-01-16 15:41:34 +11:00
parent ee453783eb
commit acb4885989
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -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;