ArduPlane: use get_roll_deg in place of roll_sensor (etc.)

Author: peterbarker

ArduPlane/commands_logic.cpp

@@ -500,7 +500,7 @@ void Plane::do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd)
     } else {
         // use yaw based bearing hold
         steer_state.hold_course_cd = wrap_360_cd(ahrs.yaw_sensor);
-        bearing = ahrs.yaw_sensor * 0.01f;
+        bearing = ahrs.get_yaw_deg();
         next_WP_loc.offset_bearing(bearing, 1000); // push it out 1km
     }
 

ArduPlane/mode_autoland.cpp

@@ -301,7 +301,7 @@ bool ModeAutoLand::landing_lined_up(void)
 void ModeAutoLand::arm_check(void)
 {
     if (plane.ahrs.use_compass() && autoland_option_is_set(ModeAutoLand::AutoLandOption::AUTOLAND_DIR_ON_ARM)) {
-        set_autoland_direction(plane.ahrs.yaw_sensor * 0.01);
+        set_autoland_direction(plane.ahrs.get_yaw_deg());
     }
 }
 

libraries/AP_Camera/AP_Camera_Backend.cpp

@@ -212,9 +212,9 @@ void AP_Camera_Backend::send_camera_feedback(mavlink_channel_t chan)
         camera_feedback.location.lng,       // longitude
         altitude*1e-2f,                     // alt MSL
         altitude_rel*1e-2f,                 // alt relative to home
-        camera_feedback.get_roll_deg(),     // roll angle (deg)
-        camera_feedback.get_pitch_deg(),    // pitch angle (deg)
-        camera_feedback.get_yaw_deg(),      // yaw angle (deg)
+        camera_feedback.roll_sensor*1e-2f,  // roll angle (deg)
+        camera_feedback.pitch_sensor*1e-2f, // pitch angle (deg)
+        camera_feedback.yaw_sensor*1e-2f,   // yaw angle (deg)
         0.0f,                               // focal length
         CAMERA_FEEDBACK_PHOTO,              // flags
         camera_feedback.feedback_trigger_logged_count); // completed image captures