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AP_YawController: update for AHRS API change

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Andrew Tridgell 2013-11-04 14:35:44 +11:00
parent 979c6ae3b6
commit 2930184680
1 changed files with 1 additions and 1 deletions
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libraries/APM_Control/AP_YawController.cpp
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@ -106,7 +106,7 @@ int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
float omega_z = _ahrs.get_gyro().z; float omega_z = _ahrs.get_gyro().z;
// Get the accln vector (m/s^2) // Get the accln vector (m/s^2)
float accel_y = _ahrs.get_ins()->get_accel().y; float accel_y = _ahrs.get_ins().get_accel().y;
// Subtract the steady turn component of rate from the measured rate // Subtract the steady turn component of rate from the measured rate
// to calculate the rate relative to the turn requirement in degrees/sec // to calculate the rate relative to the turn requirement in degrees/sec