primary imu data

ArduPilot · Feb 20, 2024 · f1fce9d · f1fce9d
1 parent c65fe18
commit f1fce9d
Showing 1 changed file with 4 additions and 3 deletions.
diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -435,9 +435,10 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg)
         msg.orientation.w = orientation[3];
     }
     msg.orientation_covariance[0] = -1;
-
-    Vector3f accel_data = imu.get_accel();
-    Vector3f gyro_data = imu.get_gyro();
+    uint8_t accel_index = ahrs.get_primary_accel_index();
+    uint8_t gyro_index = ahrs.get_primary_gyro_index();
+    const Vector3f accel_data = imu.get_accel(accel_index);
+    const Vector3f gyro_data = imu.get_gyro(gyro_index);
 
     // Populate the message fields
     msg.linear_acceleration.x = accel_data.x;