Rover: update for AHRS API changes

11 years ago · 7546ae9ab5
1 changed files with 2 additions and 2 deletions
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@ -252,7 +252,7 @@ AP_InertialSensor_Oilpan ins( &adc );
				@@ -252,7 +252,7 @@ AP_InertialSensor_Oilpan ins( &adc );
  #error Unrecognised CONFIG_INS_TYPE setting.
 #endif // CONFIG_INS_TYPE

-AP_AHRS_DCM ahrs(&ins, g_gps);
+AP_AHRS_DCM ahrs(ins, g_gps);

 static AP_L1_Control L1_controller(ahrs);

@ -642,7 +642,7 @@ static void ahrs_update()
				@@ -642,7 +642,7 @@ static void ahrs_update()
        Log_Write_Attitude();

    if (g.log_bitmask & MASK_LOG_IMU)
-        DataFlash.Log_Write_IMU(&ins);
+        DataFlash.Log_Write_IMU(ins);
 }

 /*