AP_AHRS: remove changes to primary accel since it is always the same …

…as the gyro
ArduPilot · Jan 29, 2025 · 9da3653 · 9da3653
1 parent a5d04eb
commit 9da3653
Showing 1 changed file with 2 additions and 7 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -347,20 +347,15 @@ void AP_AHRS::reset_gyro_drift(void)
 void AP_AHRS::update_state(void)
 {
     const uint8_t primary_gyro = _get_primary_gyro_index();
-    const uint8_t primary_accel = _get_primary_accel_index();
 #if AP_INERTIALSENSOR_ENABLED
     // tell the IMUS about primary changes
     if (primary_gyro != state.primary_gyro) {
-        AP::ins().set_primary_gyro(primary_gyro);
-    }
-
-    if (primary_accel != state.primary_accel) {
-        AP::ins().set_primary_accel(primary_accel);
+        AP::ins().set_primary(primary_gyro);
     }
 #endif
     state.primary_IMU = _get_primary_IMU_index();
     state.primary_gyro = primary_gyro;
-    state.primary_accel = primary_accel;
+    state.primary_accel = _get_primary_accel_index();
     state.primary_core = _get_primary_core_index();
     state.wind_estimate_ok = _wind_estimate(state.wind_estimate);
     state.EAS2TAS = AP_AHRS_Backend::get_EAS2TAS();