AP_NavEKF2: use ins singleton

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -583,8 +583,7 @@ void NavEKF2::check_log_write(void)
         logging.log_baro = false;
     }
     if (logging.log_imu) {
-        const AP_InertialSensor &ins = _ahrs->get_ins();
-        DataFlash_Class::instance()->Log_Write_IMUDT(ins, imuSampleTime_us, _logging_mask.get());
+        DataFlash_Class::instance()->Log_Write_IMUDT(imuSampleTime_us, _logging_mask.get());
         logging.log_imu = false;
     }
 
@@ -599,7 +598,7 @@ bool NavEKF2::InitialiseFilter(void)
     if (_enable == 0) {
         return false;
     }
-    const AP_InertialSensor &ins = _ahrs->get_ins();
+    const AP_InertialSensor &ins = AP::ins();
 
     imuSampleTime_us = AP_HAL::micros64();
 
@@ -688,7 +687,7 @@ void NavEKF2::UpdateFilter(void)
 
     imuSampleTime_us = AP_HAL::micros64();
     
-    const AP_InertialSensor &ins = _ahrs->get_ins();
+    const AP_InertialSensor &ins = AP::ins();
 
     bool statePredictEnabled[num_cores];
     for (uint8_t i=0; i<num_cores; i++) {

libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp

@@ -283,7 +283,7 @@ void NavEKF2_core::readMagData()
  */
 void NavEKF2_core::readIMUData()
 {
-    const AP_InertialSensor &ins = _ahrs->get_ins();
+    const AP_InertialSensor &ins = AP::ins();
 
     // average IMU sampling rate
     dtIMUavg = ins.get_loop_delta_t();
@@ -391,7 +391,7 @@ void NavEKF2_core::readIMUData()
 // read the delta velocity and corresponding time interval from the IMU
 // return false if data is not available
 bool NavEKF2_core::readDeltaVelocity(uint8_t ins_index, Vector3f &dVel, float &dVel_dt) {
-    const AP_InertialSensor &ins = _ahrs->get_ins();
+    const AP_InertialSensor &ins = AP::ins();
 
     if (ins_index < ins.get_accel_count()) {
         ins.get_delta_velocity(ins_index,dVel);
@@ -534,7 +534,7 @@ void NavEKF2_core::readGpsData()
 // read the delta angle and corresponding time interval from the IMU
 // return false if data is not available
 bool NavEKF2_core::readDeltaAngle(uint8_t ins_index, Vector3f &dAng, float &dAng_dt) {
-    const AP_InertialSensor &ins = _ahrs->get_ins();
+    const AP_InertialSensor &ins = AP::ins();
 
     if (ins_index < ins.get_gyro_count()) {
         ins.get_delta_angle(ins_index,dAng);

libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp

@@ -452,7 +452,7 @@ void NavEKF2_core::detectOptFlowTakeoff(void)
 {
     if (!onGround && !takeOffDetected && (imuSampleTime_ms - timeAtArming_ms) > 1000) {
         // we are no longer confidently on the ground so check the range finder and gyro for signs of takeoff
-        const AP_InertialSensor &ins = _ahrs->get_ins();
+        const AP_InertialSensor &ins = AP::ins();
         Vector3f angRateVec;
         Vector3f gyroBias;
         getGyroBias(gyroBias);

libraries/AP_NavEKF2/AP_NavEKF2_core.cpp

@@ -62,7 +62,7 @@ bool NavEKF2_core::setup_core(NavEKF2 *_frontend, uint8_t _imu_index, uint8_t _c
       than 100Hz is downsampled. For 50Hz main loop rate we need a
       shorter buffer.
      */
-    if (_ahrs->get_ins().get_sample_rate() < 100) {
+    if (AP::ins().get_sample_rate() < 100) {
         imu_buffer_length = 13;
     } else {
         // maximum 260 msec delay at 100 Hz fusion rate
@@ -110,7 +110,7 @@ bool NavEKF2_core::setup_core(NavEKF2 *_frontend, uint8_t _imu_index, uint8_t _c
 void NavEKF2_core::InitialiseVariables()
 {
     // calculate the nominal filter update rate
-    const AP_InertialSensor &ins = _ahrs->get_ins();
+    const AP_InertialSensor &ins = AP::ins();
     localFilterTimeStep_ms = (uint8_t)(1000*ins.get_loop_delta_t());
     localFilterTimeStep_ms = MAX(localFilterTimeStep_ms,10);
 
@@ -355,8 +355,10 @@ bool NavEKF2_core::InitialiseFilterBootstrap(void)
     // set re-used variables to zero
     InitialiseVariables();
 
+    const AP_InertialSensor &ins = AP::ins();
+
     // Initialise IMU data
-    dtIMUavg = _ahrs->get_ins().get_loop_delta_t();
+    dtIMUavg = ins.get_loop_delta_t();
     readIMUData();
     storedIMU.reset_history(imuDataNew);
     imuDataDelayed = imuDataNew;
@@ -365,7 +367,7 @@ bool NavEKF2_core::InitialiseFilterBootstrap(void)
     Vector3f initAccVec;
 
     // TODO we should average accel readings over several cycles
-    initAccVec = _ahrs->get_ins().get_accel(imu_index);
+    initAccVec = ins.get_accel(imu_index);
 
     // read the magnetometer data
     readMagData();