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Plane: use GPS singleton

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Peter Barker 2017-12-02 10:44:00 +11:00 committed by Francisco Ferreira
parent fb5b6f2169
commit c5ae01fc6d
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/commands_logic.cpp
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@ -489,10 +489,10 @@ void Plane::do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd)
if (!locations_are_same(prev_WP_loc, next_WP_loc)) {
// use waypoint based bearing, this is the usual case
steer_state.hold_course_cd = -1;
} else if (ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
} else if (AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
// use gps ground course based bearing hold
steer_state.hold_course_cd = -1;
bearing = ahrs.get_gps().ground_course_cd() * 0.01f;
bearing = AP::gps().ground_course_cd() * 0.01f;
location_update(next_WP_loc, bearing, 1000); // push it out 1km
} else {
// use yaw based bearing hold