int find_32(word in, Instruction *out, Dic *dic) {
return get_ins(in, out, dic->ins32, dic->sz32);
}
int find_16(word in, Instruction *out, Dic *dic) {
return get_ins(in, out, dic->ins16, dic->sz16);
}
// return a smoothed and corrected gyro vector using the latest ins data (which may not have been consumed by the EKF yet)
Vector3f AP_AHRS::get_gyro_latest(void) const
{
const uint8_t primary_gyro = get_primary_gyro_index();
return get_ins().get_gyro(primary_gyro) + get_gyro_drift();
}