AP_AHRS: remove call to get_home()

this is our object, we don't need permission
ArduPilot · Apr 15, 2024 · b95bd8f · b95bd8f
1 parent 6ef131c
commit b95bd8f
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -1822,7 +1822,7 @@ void AP_AHRS::get_relative_position_D_home(float &posD) const
         const auto &gps = AP::gps();
         if (_gps_use == GPSUse::EnableWithHeight &&
             gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
-            posD = (get_home().alt - gps.location().alt) * 0.01;
+            posD = (_home.alt - gps.location().alt) * 0.01;
             return;
         }
 #endif

diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.cpp b/libraries/AP_AHRS/AP_AHRS_Backend.cpp
@@ -257,7 +257,7 @@ void AP_AHRS::Log_Write_Home_And_Origin()
         Write_Origin(LogOriginType::ekf_origin, ekf_orig);
     }
 
-    if (home_is_set()) {
+    if (_home_is_set) {
         Write_Origin(LogOriginType::ahrs_home, _home);
     }
 }