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AP_Mount: don't use disabled IMUs in solo gimbal code

This commit is contained in:
Andrew Tridgell 2019-07-05 12:40:03 +10:00 committed by Randy Mackay
parent 33d0c5c08f
commit b74ae60058
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Mount/SoloGimbal.cpp
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@ -221,7 +221,7 @@ void SoloGimbal::readVehicleDeltaAngle(uint8_t ins_index, Vector3f &dAng) {
void SoloGimbal::update_fast() { void SoloGimbal::update_fast() {
const AP_InertialSensor &ins = AP::ins(); const AP_InertialSensor &ins = AP::ins();
if (ins.get_gyro_health(0) && ins.get_gyro_health(1)) { if (ins.use_gyro(0) && ins.use_gyro(1)) {
// dual gyro mode - average first two gyros // dual gyro mode - average first two gyros
Vector3f dAng; Vector3f dAng;
readVehicleDeltaAngle(0, dAng); readVehicleDeltaAngle(0, dAng);