AP_OpticalFlow: rename for AHRS restructuring

libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp

@@ -98,7 +98,7 @@ void AP_OpticalFlow_CXOF::update(void)
     // record gyro values as long as they are being used
     // the sanity check of dt below ensures old gyro values are not used
     if (gyro_sum_count < 1000) {
-        const Vector3f& gyro = AP::ahrs_navekf().get_gyro();
+        const Vector3f& gyro = AP::ahrs().get_gyro();
         gyro_sum.x += gyro.x;
         gyro_sum.y += gyro.y;
         gyro_sum_count++;

libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp

@@ -285,7 +285,7 @@ void AP_OpticalFlow_Pixart::timer(void)
 
     uint32_t dt_us = last_burst_us - integral.last_frame_us;
     float dt = dt_us * 1.0e-6;
-    const Vector3f &gyro = AP::ahrs_navekf().get_gyro();
+    const Vector3f &gyro = AP::ahrs().get_gyro();
 
     {
         WITH_SEMAPHORE(_sem);

libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp

@@ -100,7 +100,7 @@ void AP_OpticalFlow_UPFLOW::update(void)
         gyro_sum.zero();
         gyro_sum_count = 0;
     }
-    const Vector3f& gyro = AP::ahrs_navekf().get_gyro();
+    const Vector3f& gyro = AP::ahrs().get_gyro();
     gyro_sum.x += gyro.x;
     gyro_sum.y += gyro.y;
     gyro_sum_count++;

libraries/AP_OpticalFlow/OpticalFlow.cpp

@@ -203,11 +203,11 @@ void OpticalFlow::update_state(const OpticalFlow_state &state)
     _last_update_ms = AP_HAL::millis();
 
     // write to log and send to EKF if new data has arrived
-    AP::ahrs_navekf().writeOptFlowMeas(quality(),
-                                       _state.flowRate,
-                                       _state.bodyRate,
-                                       _last_update_ms,
-                                       get_pos_offset());
+    AP::ahrs().writeOptFlowMeas(quality(),
+                                _state.flowRate,
+                                _state.bodyRate,
+                                _last_update_ms,
+                                get_pos_offset());
     Log_Write_Optflow();
 }
 

libraries/AP_OpticalFlow/OpticalFlow.h

@@ -30,7 +30,7 @@
 #endif
 
 class OpticalFlow_backend;
-class AP_AHRS_NavEKF;
+class AP_AHRS;
 
 class OpticalFlow
 {

libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.cpp

@@ -27,7 +27,7 @@ public:
     AP_InertialSensor ins;
     AP_SerialManager serial_manager;
     RangeFinder sonar;
-    AP_AHRS_NavEKF ahrs{AP_AHRS_NavEKF::FLAG_ALWAYS_USE_EKF};
+    AP_AHRS ahrs{AP_AHRS::FLAG_ALWAYS_USE_EKF};
 };
 
 static DummyVehicle vehicle;