AP_Arming: use ins singleton

7 years ago · f0d06e7a9c
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@ -172,7 +172,7 @@ bool AP_Arming::ins_checks(bool report)
				@@ -172,7 +172,7 @@ bool AP_Arming::ins_checks(bool report)
 {
    if ((checks_to_perform & ARMING_CHECK_ALL) ||
        (checks_to_perform & ARMING_CHECK_INS)) {
-        const AP_InertialSensor &ins = ahrs.get_ins();
+        const AP_InertialSensor &ins = AP::ins();
        if (!ins.get_gyro_health_all()) {
            if (report) {
                gcs().send_text(MAV_SEVERITY_CRITICAL, "PreArm: Gyros not healthy");