From e273f73cb48460fd36f4b3f22401f7461a715565 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 7 Nov 2020 17:09:45 +1100
Subject: [PATCH] AP_DAL: fixed shadowed variable

---
 libraries/AP_DAL/AP_DAL.cpp     | 12 ++++++------
 libraries/AP_DAL/AP_DAL.h       |  4 ++--
 libraries/AP_DAL/AP_DAL_GPS.cpp |  3 +--
 3 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
index 32b71d049d..f75c28c932 100644
--- a/libraries/AP_DAL/AP_DAL.cpp
+++ b/libraries/AP_DAL/AP_DAL.cpp
@@ -128,11 +128,11 @@ void AP_DAL::log_SetOriginLLH2(const Location &loc)
 #endif
 }
 
-void AP_DAL::log_writeDefaultAirSpeed2(const float airspeed)
+void AP_DAL::log_writeDefaultAirSpeed2(const float aspeed)
 {
 #if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
     struct log_RWA2 pkt{
-        airspeed:      airspeed,
+        airspeed:      aspeed,
     };
     WRITE_REPLAY_BLOCK(RWA2, pkt);
 #endif
@@ -161,11 +161,11 @@ void AP_DAL::log_SetOriginLLH3(const Location &loc)
 #endif
 }
 
-void AP_DAL::log_writeDefaultAirSpeed3(const float airspeed)
+void AP_DAL::log_writeDefaultAirSpeed3(const float aspeed)
 {
 #if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone) && !APM_BUILD_TYPE(APM_BUILD_Replay)
     struct log_RWA3 pkt{
-        airspeed:      airspeed,
+        airspeed:      aspeed,
     };
     WRITE_REPLAY_BLOCK(RWA3, pkt);
 #endif
@@ -253,8 +253,8 @@ bool AP_DAL::ekf_low_time_remaining(EKFType etype, uint8_t core)
       return true, indicating that we are low on CPU. This changes the
       scheduling of fusion between lanes
      */
-    const auto &ins = AP::ins();
-    if ((AP_HAL::micros() - ins.get_last_update_usec())*1.0e-6 > ins.get_loop_delta_t()*0.33) {
+    const auto &imu = AP::ins();
+    if ((AP_HAL::micros() - imu.get_last_update_usec())*1.0e-6 > imu.get_loop_delta_t()*0.33) {
         _RFRF.core_slow |= mask;
     } else {
         _RFRF.core_slow &= ~mask;
diff --git a/libraries/AP_DAL/AP_DAL.h b/libraries/AP_DAL/AP_DAL.h
index 32ff5cf501..e93ced7bc5 100644
--- a/libraries/AP_DAL/AP_DAL.h
+++ b/libraries/AP_DAL/AP_DAL.h
@@ -92,11 +92,11 @@ public:
 
     void log_event2(Event2 event);
     void log_SetOriginLLH2(const Location &loc);
-    void log_writeDefaultAirSpeed2(float airspeed);
+    void log_writeDefaultAirSpeed2(float aspeed);
 
     void log_event3(Event3 event);
     void log_SetOriginLLH3(const Location &loc);
-    void log_writeDefaultAirSpeed3(float airspeed);
+    void log_writeDefaultAirSpeed3(float aspeed);
     void log_writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t timeStamp_ms, uint8_t type);
 
     enum class StateMask {
diff --git a/libraries/AP_DAL/AP_DAL_GPS.cpp b/libraries/AP_DAL/AP_DAL_GPS.cpp
index ee9a6d9b76..4f9d70bcff 100644
--- a/libraries/AP_DAL/AP_DAL_GPS.cpp
+++ b/libraries/AP_DAL/AP_DAL_GPS.cpp
@@ -27,9 +27,8 @@ void AP_DAL_GPS::start_frame()
 
         RGPI.status = (GPS_Status)gps.status(i);
 
-        const uint32_t last_message_time_ms = gps.last_message_time_ms(i);
         const Location &loc = gps.location(i);
-        RGPI.last_message_time_ms = last_message_time_ms;
+        RGPI.last_message_time_ms = gps.last_message_time_ms(i);
         RGPI.lat = loc.lat;
         RGPI.lng = loc.lng;
         RGPI.alt = loc.alt;