From a7569e3a6147ec72c3deb7a79e8b56ea1b9b770d Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 1 Aug 2015 17:38:22 +0900 Subject: [PATCH] AHRS_NavEKF: integrate INS use_accel --- libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp index cfceadeb8a..69deafb089 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp @@ -133,7 +133,7 @@ void AP_AHRS_NavEKF::update(void) } } - if(_ins.get_accel_health(0) && _ins.get_accel_health(1)) { + if(_ins.use_accel(0) && _ins.use_accel(1)) { float IMU1_weighting; EKF.getIMU1Weighting(IMU1_weighting); _accel_ef_ekf_blended = _accel_ef_ekf[0] * IMU1_weighting + _accel_ef_ekf[1] * (1.0f-IMU1_weighting);