AP_NavEKF3: remove separate calls to get delta-times for vel and ang

libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp

@@ -431,8 +431,8 @@ void NavEKF3_core::readIMUData()
     imuDataNew.accel_index = accel_index_active;
     
     // Get delta angle data from primary gyro or primary if not available
-    readDeltaAngle(gyro_index_active, imuDataNew.delAng);
-    imuDataNew.delAngDT = MAX(ins.get_delta_angle_dt(gyro_index_active),1.0e-4f);
+    readDeltaAngle(gyro_index_active, imuDataNew.delAng, imuDataNew.delAngDT);
+    imuDataNew.delAngDT = MAX(imuDataNew.delAngDT, 1.0e-4f);
     imuDataNew.gyro_index = gyro_index_active;
 
     // Get current time stamp
@@ -530,8 +530,8 @@ bool NavEKF3_core::readDeltaVelocity(uint8_t ins_index, Vector3f &dVel, float &d
     const auto &ins = dal.ins();
 
     if (ins_index < ins.get_accel_count()) {
-        ins.get_delta_velocity(ins_index,dVel);
-        dVel_dt = MAX(ins.get_delta_velocity_dt(ins_index),1.0e-4f);
+        ins.get_delta_velocity(ins_index,dVel,dVel_dt);
+        dVel_dt = MAX(dVel_dt,1.0e-4f);
         return true;
     }
     return false;
@@ -710,11 +710,11 @@ void NavEKF3_core::readGpsData()
 
 // read the delta angle and corresponding time interval from the IMU
 // return false if data is not available
-bool NavEKF3_core::readDeltaAngle(uint8_t ins_index, Vector3f &dAng) {
+bool NavEKF3_core::readDeltaAngle(uint8_t ins_index, Vector3f &dAng, float &dAngDT) {
     const auto &ins = dal.ins();
 
     if (ins_index < ins.get_gyro_count()) {
-        ins.get_delta_angle(ins_index,dAng);
+        ins.get_delta_angle(ins_index, dAng, dAngDT);
         return true;
     }
     return false;

libraries/AP_NavEKF3/AP_NavEKF3_core.h

@@ -681,7 +681,7 @@ private:
 
     // helper functions for readIMUData
     bool readDeltaVelocity(uint8_t ins_index, Vector3f &dVel, float &dVel_dt);
-    bool readDeltaAngle(uint8_t ins_index, Vector3f &dAng);
+    bool readDeltaAngle(uint8_t ins_index, Vector3f &dAng, float &dAng_dt);
 
     // helper functions for correcting IMU data
     void correctDeltaAngle(Vector3f &delAng, float delAngDT, uint8_t gyro_index);