AP_Mount: reflect renamed function in AP_AHRS

libraries/AP_Mount/AP_Gimbal.cpp

@@ -119,9 +119,9 @@ Vector3f AP_Gimbal::getGimbalRateDemVecYaw(const Quaternion &quatEst)
         float excess_rate_correction = fabsf(vehicle_rate_mag_ef) - maxRate; 
         if (vehicle_rate_mag_ef > maxRate) {
             if (vehicle_rate_ef.z>0.0f){
-                gimbalRateDemVecYaw += _ahrs.get_dcm_matrix().transposed()*Vector3f(0,0,excess_rate_correction);
+                gimbalRateDemVecYaw += _ahrs.get_rotation_body_to_ned().transposed()*Vector3f(0,0,excess_rate_correction);
             } else {
-                gimbalRateDemVecYaw -= _ahrs.get_dcm_matrix().transposed()*Vector3f(0,0,excess_rate_correction);
+                gimbalRateDemVecYaw -= _ahrs.get_rotation_body_to_ned().transposed()*Vector3f(0,0,excess_rate_correction);
             }
         }
 

libraries/AP_Mount/AP_Mount_Servo.cpp

@@ -130,7 +130,7 @@ void AP_Mount_Servo::stabilize()
         Matrix3f m;                         ///< holds 3 x 3 matrix, var is used as temp in calcs
         Matrix3f cam;                       ///< Rotation matrix earth to camera. Desired camera from input.
         Matrix3f gimbal_target;             ///< Rotation matrix from plane to camera. Then Euler angles to the servos.
-        m = _frontend._ahrs.get_dcm_matrix();
+        m = _frontend._ahrs.get_rotation_body_to_ned();
         m.transpose();
         cam.from_euler(_angle_ef_target_rad.x, _angle_ef_target_rad.y, _angle_ef_target_rad.z);
         gimbal_target = m * cam;