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AP_AHRS: correct get_accel() to use primary accel rather than first usable for scripting #28588

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Nov 13, 2024
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AP_AHRS: correct get_accel() to use primary accel rather than first usable for scripting #28588

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4 changes: 2 additions & 2 deletions libraries/AP_AHRS/AP_AHRS.h
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Original file line number Diff line number Diff line change
Expand Up @@ -618,9 +618,9 @@ class AP_AHRS {
// return current vibration vector for primary IMU
Vector3f get_vibration(void) const;

// return primary accels, for lua
// return primary accels
const Vector3f &get_accel(void) const {
return AP::ins().get_accel();
return AP::ins().get_accel(_get_primary_accel_index());
}

// return primary accel bias. This should be subtracted from
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