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Plane: fixed ins reference in plane object

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Andrew Tridgell 2015-05-18 07:35:42 +10:00
parent 441d96c946
commit 78f02634d0
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/GCS_Mavlink.cpp
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@ -1075,9 +1075,9 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} else if (is_equal(packet.param5,2.0f)) { } else if (is_equal(packet.param5,2.0f)) {
// accel trim // accel trim
float trim_roll, trim_pitch; float trim_roll, trim_pitch;
if(ins.calibrate_trim(trim_roll, trim_pitch)) { if(plane.ins.calibrate_trim(trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine // reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); plane.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} else { } else {
result = MAV_RESULT_FAILED; result = MAV_RESULT_FAILED;