AP_Mount: rename for AHRS restructuring

libraries/AP_Mount/SoloGimbal.cpp

@@ -28,7 +28,7 @@ bool SoloGimbal::aligned()
 
 gimbal_mode_t SoloGimbal::get_mode()
 {
-    const AP_AHRS_NavEKF &_ahrs = AP::ahrs_navekf();
+    const auto &_ahrs = AP::ahrs();
 
     if ((_gimbalParams.initialized() && is_zero(_gimbalParams.get_K_rate())) || (_ahrs.get_rotation_body_to_ned().c.z < 0 && !(_lockedToBody || _calibrator.running()))) {
         return GIMBAL_MODE_IDLE;
@@ -281,7 +281,7 @@ Vector3f SoloGimbal::get_ang_vel_dem_yaw(const Quaternion &quatEst)
     float dt = _measurement.delta_time;
     float alpha = dt/(dt+tc);
 
-    const AP_AHRS_NavEKF &_ahrs = AP::ahrs_navekf();
+    const auto &_ahrs = AP::ahrs();
     Matrix3f Tve = _ahrs.get_rotation_body_to_ned();
     Matrix3f Teg;
     quatEst.inverse().rotation_matrix(Teg);
@@ -380,7 +380,7 @@ Vector3f SoloGimbal::get_ang_vel_dem_body_lock()
     joint_rates_to_gimbal_ang_vel(gimbalRateDemVecBodyLock, gimbalRateDemVecBodyLock);
 
     // Add a feedforward term from vehicle gyros
-    const AP_AHRS_NavEKF &_ahrs = AP::ahrs_navekf();
+    const auto &_ahrs = AP::ahrs();
     gimbalRateDemVecBodyLock += Tvg * _ahrs.get_gyro();
 
     return gimbalRateDemVecBodyLock;

libraries/AP_Mount/SoloGimbalEKF.cpp

@@ -76,7 +76,7 @@ void SoloGimbalEKF::RunEKF(float delta_time, const Vector3f &delta_angles, const
         bool main_ekf_healthy = false;
         nav_filter_status main_ekf_status;
 
-        const AP_AHRS_NavEKF &_ahrs = AP::ahrs_navekf();
+        const auto &_ahrs = AP::ahrs();
 
         if (_ahrs.get_filter_status(main_ekf_status)) {
             if (main_ekf_status.flags.attitude) {
@@ -597,7 +597,7 @@ void SoloGimbalEKF::predictCovariance()
 // Fuse the SoloGimbalEKF velocity estimates - this enables alevel reference to be maintained during constant turns
 void SoloGimbalEKF::fuseVelocity()
 {
-    const AP_AHRS_NavEKF &_ahrs = AP::ahrs_navekf();
+    const auto &_ahrs = AP::ahrs();
 
     if (!_ahrs.have_inertial_nav()) {
         return;
@@ -668,7 +668,7 @@ void SoloGimbalEKF::fuseVelocity()
 // check for new magnetometer data and update store measurements if available
 void SoloGimbalEKF::readMagData()
 {
-    const AP_AHRS_NavEKF &_ahrs = AP::ahrs_navekf();
+    const auto &_ahrs = AP::ahrs();
 
     if (_ahrs.get_compass() &&
         _ahrs.get_compass()->use_for_yaw() &&
@@ -867,7 +867,7 @@ float SoloGimbalEKF::calcMagHeadingInnov()
     Tms[1][2] = sinPhi;
     Tms[2][2] = cosTheta*cosPhi;
 
-    const AP_AHRS_NavEKF &_ahrs = AP::ahrs_navekf();
+    const auto &_ahrs = AP::ahrs();
 
     // get earth magnetic field estimate from main ekf if available to take advantage of main ekf magnetic field learning
     Vector3f earth_magfield = Vector3f(0,0,0);