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ArduSub: rename for AHRS restructuring

This commit is contained in:
Peter Barker 2021-07-20 22:16:34 +10:00 committed by Peter Barker
parent 06c2faaec5
commit e98af90749
3 changed files with 3 additions and 3 deletions
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2
ArduSub/AP_Arming_Sub.cpp
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@ -167,7 +167,7 @@ bool AP_Arming_Sub::disarm(const AP_Arming::Method method, bool do_disarm_checks
gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors");
#endif
AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
auto &ahrs = AP::ahrs();
// save compass offsets learned by the EKF if enabled
if (ahrs.use_compass() && AP::compass().get_learn_type() == Compass::LEARN_EKF) {

2
ArduSub/Log.cpp
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@ -57,7 +57,7 @@ void Sub::Log_Write_Attitude()
targets.z = wrap_360_cd(targets.z);
ahrs.Write_Attitude(targets);
AP::ahrs_navekf().Log_Write();
AP::ahrs().Log_Write();
ahrs.Write_AHRS2();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
sitl.Log_Write_SIMSTATE();

2
ArduSub/Sub.h
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@ -53,7 +53,7 @@
#include <AP_Relay/AP_Relay.h> // APM relay
#include <AP_Mount/AP_Mount.h> // Camera/Antenna mount
#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
#include <AP_InertialNav/AP_InertialNav.h> // ArduPilot Mega inertial navigation library
#include <AP_InertialNav/AP_InertialNav_NavEKF.h> // ArduPilot Mega inertial navigation library
#include <AC_WPNav/AC_WPNav.h> // Waypoint navigation library
#include <AC_WPNav/AC_Loiter.h>
#include <AC_WPNav/AC_Circle.h> // circle navigation library