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AP_NavEKF3: fixed gcc 9.3 build error

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gcc 9.3 doesn't like the use of get_accel(i) when array length is 1
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Andrew Tridgell 2020-11-13 11:32:18 +11:00 committed by Peter Barker
parent 7099bb6096
commit c14d19be68
1 changed files with 5 additions and 0 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -1188,6 +1188,10 @@ void NavEKF3_core::getTimingStatistics(struct ekf_timing &_timing)
*/
void NavEKF3_core::learnInactiveBiases(void)
{
#if INS_MAX_INSTANCES == 1
inactiveBias[0].gyro_bias = stateStruct.gyro_bias;
inactiveBias[0].accel_bias = stateStruct.accel_bias;
#else
const auto &ins = dal.ins();
// learn gyro biases
@ -1248,6 +1252,7 @@ void NavEKF3_core::learnInactiveBiases(void)
inactiveBias[i].accel_bias -= error * (1.0e-4f * dtEkfAvg);
}
}
#endif
}
/*