AP_Compass: Refactor battery current backend

6 years ago · 58dbbd6d0e
1 changed files with 3 additions and 2 deletions
--- a/libraries/AP_Compass/AP_Compass_Backend.cpp
+++ b/libraries/AP_Compass/AP_Compass_Backend.cpp
@ -81,8 +81,9 @@ void AP_Compass_Backend::correct_field(Vector3f &mag, uint8_t i)
				@@ -81,8 +81,9 @@ void AP_Compass_Backend::correct_field(Vector3f &mag, uint8_t i)
        state.motor_offset = mot * _compass._thr;
    } else if (_compass._motor_comp_type == AP_COMPASS_MOT_COMP_CURRENT) {
        AP_BattMonitor &battery = AP::battery();
-        if (battery.has_current()) {
-            state.motor_offset = mot * battery.current_amps();
+        float current;
+        if (battery.current_amps(current)) {
+            state.motor_offset = mot * current;
        }
    }