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AP_TECS: use ins singleton

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Peter Barker 2018-03-10 21:01:03 +11:00 committed by Lucas De Marchi
parent e2de9d62cd
commit f0daf392a5
1 changed files with 1 additions and 1 deletions
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libraries/AP_TECS/AP_TECS.cpp
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@ -325,7 +325,7 @@ void AP_TECS::update_50hz(void)
// Get DCM // Get DCM
const Matrix3f &rotMat = _ahrs.get_rotation_body_to_ned(); const Matrix3f &rotMat = _ahrs.get_rotation_body_to_ned();
// Calculate speed rate of change // Calculate speed rate of change
float temp = rotMat.c.x * GRAVITY_MSS + _ahrs.get_ins().get_accel().x; float temp = rotMat.c.x * GRAVITY_MSS + AP::ins().get_accel().x;
// take 5 point moving average // take 5 point moving average
_vel_dot = _vdot_filter.apply(temp); _vel_dot = _vdot_filter.apply(temp);