AP_NavEKF3: cope with INS_MAX_INSTANCES below 3

2020-11-07 17:43:32 +11:00 · 2020-11-07 17:43:32 +11:00 · eaa8474563
commit eaa8474563
parent 246a441883
1 changed files with 4 additions and 1 deletions
--- a/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
@ -482,10 +482,13 @@ void NavEKF3_core::detectOptFlowTakeoff(void)
        Vector3f angRateVec;
        Vector3f gyroBias;
        getGyroBias(gyroBias);
+#if INS_MAX_INSTANCES > 1
        bool dual_ins = ins.use_gyro(0) && ins.use_gyro(1);
        if (dual_ins) {
            angRateVec = (ins.get_gyro(0) + ins.get_gyro(1)) * 0.5f - gyroBias;
-        } else {
+        } else
+#endif
+        {
            angRateVec = ins.get_gyro() - gyroBias;
        }