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APM_Control: use ins singleton

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Peter Barker 2018-03-10 21:00:57 +11:00 committed by Lucas De Marchi
parent 7c86c4fe61
commit e2de9d62cd
1 changed files with 1 additions and 1 deletions
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libraries/APM_Control/AP_YawController.cpp
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@ -108,7 +108,7 @@ int32_t AP_YawController::get_servo_out(float scaler, bool disable_integrator)
float omega_z = _ahrs.get_gyro().z;
// Get the accln vector (m/s^2)
float accel_y = _ahrs.get_ins().get_accel().y;
float accel_y = AP::ins().get_accel().y;
// Subtract the steady turn component of rate from the measured rate
// to calculate the rate relative to the turn requirement in degrees/sec