AP_NavEKF3: rename ins get_primary_accel to get_first_usable_accel

ArduPilot · Jun 26, 2024 · 563c3e7 · 563c3e7
1 parent 025888a
commit 563c3e7
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -387,13 +387,13 @@ void NavEKF3_core::readIMUData()
     if (ins.use_accel(imu_index)) {
         accel_active = imu_index;
     } else {
-        accel_active = ins.get_primary_accel();
+        accel_active = ins.get_first_usable_accel();
     }
 
     if (ins.use_gyro(imu_index)) {
         gyro_active = imu_index;
     } else {
-        gyro_active = ins.get_primary_gyro();
+        gyro_active = ins.get_first_usable_gyro();
     }
 
     if (gyro_active != gyro_index_active) {