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APM_Control: use GPS singleton

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Peter Barker 2017-12-02 10:44:39 +11:00 committed by Francisco Ferreira
parent c5ae01fc6d
commit e0c586876b
1 changed files with 4 additions and 4 deletions
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8
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -428,11 +428,11 @@ bool AR_AttitudeControl::get_forward_speed(float &speed) const
Vector3f velocity;
if (!_ahrs.get_velocity_NED(velocity)) {
// use less accurate GPS, assuming entire length is along forward/back axis of vehicle
if (_ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_3D) {
if (labs(wrap_180_cd(_ahrs.yaw_sensor - _ahrs.get_gps().ground_course_cd())) <= 9000) {
speed = _ahrs.get_gps().ground_speed();
if (AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D) {
if (labs(wrap_180_cd(_ahrs.yaw_sensor - AP::gps().ground_course_cd())) <= 9000) {
speed = AP::gps().ground_speed();
} else {
speed = -_ahrs.get_gps().ground_speed();
speed = -AP::gps().ground_speed();
}
return true;
} else {