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AP_ADSB: use GPS singleton

This commit is contained in:
Peter Barker 2017-12-02 10:44:56 +11:00 committed by Francisco Ferreira
parent e0c586876b
commit d1d5a484ce
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_ADSB/AP_ADSB.cpp
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@ -462,7 +462,7 @@ void AP_ADSB::send_adsb_vehicle(const mavlink_channel_t chan)
void AP_ADSB::send_dynamic_out(const mavlink_channel_t chan)
{
const AP_GPS &gps = _ahrs.get_gps();
const AP_GPS &gps = AP::gps();
const Vector3f &gps_velocity = gps.velocity();
int32_t latitude = _my_loc.lat;
@ -578,7 +578,7 @@ uint32_t AP_ADSB::genICAO(const Location_Class &loc)
{
// gps_time is not seconds since UTC midnight, but it is an equivalent random number
// TODO: use UTC time instead of GPS time
const AP_GPS &gps = _ahrs.get_gps();
const AP_GPS &gps = AP::gps();
const uint64_t gps_time = gps.time_epoch_usec();
uint32_t timeSum = 0;