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AP_Mount: stop using AHRS as conduit for Compass pointer

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This commit is contained in:
Peter Barker 2021-07-26 10:32:11 +10:00 committed by Peter Barker
parent b5b4ec94c9
commit dc82487fae
1 changed files with 6 additions and 7 deletions
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13
libraries/AP_Mount/SoloGimbalEKF.cpp
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@ -668,16 +668,15 @@ void SoloGimbalEKF::fuseVelocity()
// check for new magnetometer data and update store measurements if available
void SoloGimbalEKF::readMagData()
{
const auto &_ahrs = AP::ahrs();
Compass &compass = AP::compass();
if (_ahrs.get_compass() &&
_ahrs.get_compass()->use_for_yaw() &&
_ahrs.get_compass()->last_update_usec() != lastMagUpdate) {
if (compass.use_for_yaw() &&
compass.last_update_usec() != lastMagUpdate) {
// store time of last measurement update
lastMagUpdate = _ahrs.get_compass()->last_update_usec();
lastMagUpdate = compass.last_update_usec();
// read compass data and scale to improve numerical conditioning
magData = _ahrs.get_compass()->get_field();
magData = compass.get_field();
// let other processes know that new compass data has arrived
newDataMag = true;
@ -877,7 +876,7 @@ float SoloGimbalEKF::calcMagHeadingInnov()
if (!earth_magfield.is_zero()) {
declination = atan2f(earth_magfield.y,earth_magfield.x);
} else {
declination = _ahrs.get_compass()->get_declination();
declination = AP::compass().get_declination();
}
Vector3f body_magfield = Vector3f(0,0,0);