// get the index of the current primary accelerometer sensor uint8_t AP_AHRS_NavEKF::get_primary_accel_index(void) const { if (ekf_type() != 0) { return get_primary_IMU_index(); } return _ins.get_primary_accel(); }
// get the index of the current primary gyro sensor uint8_t AP_AHRS_NavEKF::get_primary_gyro_index(void) const { if (ekf_type() != 0) { return get_primary_IMU_index(); } return AP::ins().get_primary_gyro(); }
// get the index of the current primary gyro sensor uint8_t AP_AHRS_NavEKF::get_primary_gyro_index(void) const { if (ekf_type() == 2) { return get_primary_IMU_index(); } return _ins.get_primary_gyro(); }