From f1fce9d23b6fca821f09cd2a5bc3195b2c108b15 Mon Sep 17 00:00:00 2001
From: astik <41.astiksrivastava@gmail.com>
Date: Tue, 20 Feb 2024 09:38:53 +0530
Subject: [PATCH] primary imu data

---
 libraries/AP_DDS/AP_DDS_Client.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index 064e7b0277737e..ddfe64004219ac 100644
--- 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;