AP_NavEKF2: rename ins get_primary_accel to get_first_usable_accel

andyp1per · Aug 23, 2024 · b38b3c0 · b38b3c0
1 parent 308ed96
commit b38b3c0
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -335,13 +335,13 @@ void NavEKF2_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) {