AP_InertialNav: fixed use of ahrs.get_velocity with EKF disabled

10 years ago · 023b2c0d6b
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
+++ b/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
@ -30,7 +30,7 @@ void AP_InertialNav_NavEKF::update(float dt)
				@@ -30,7 +30,7 @@ void AP_InertialNav_NavEKF::update(float dt)

    _haveabspos = _ahrs.get_position(_abspos);

-    _ahrs.get_velocity_NED(_velocity_cm);
+    _ahrs_ekf.get_NavEKF().getVelNED(_velocity_cm);
    _velocity_cm *= 100; // convert to cm/s

    // InertialNav is NEU