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AC_Precland: use ins singleton

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Peter Barker 2018-03-10 20:34:16 +11:00 committed by Lucas De Marchi
parent feecbe442f
commit 7cc808543f
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -354,7 +354,7 @@ bool AC_PrecLand::construct_pos_meas_using_rangefinder(float rangefinder_alt_m,
}
// Compute camera position relative to IMU
Vector3f accel_body_offset = _ahrs.get_ins().get_imu_pos_offset(_ahrs.get_primary_accel_index());
Vector3f accel_body_offset = AP::ins().get_imu_pos_offset(_ahrs.get_primary_accel_index());
Vector3f cam_pos_ned = inertial_data_delayed.Tbn * (_cam_offset.get() - accel_body_offset);
// Compute target position relative to IMU
@ -380,7 +380,7 @@ void AC_PrecLand::run_output_prediction()
}
const Matrix3f& Tbn = _inertial_history.peek(_inertial_history.size()-1).Tbn;
Vector3f accel_body_offset = _ahrs.get_ins().get_imu_pos_offset(_ahrs.get_primary_accel_index());
Vector3f accel_body_offset = AP::ins().get_imu_pos_offset(_ahrs.get_primary_accel_index());
// Apply position correction for CG offset from IMU
Vector3f imu_pos_ned = Tbn * accel_body_offset;