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AP_AHRS: Add get_accel_ef_blended function

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Jonathan Challinger 2014-10-31 15:06:49 -07:00 committed by Randy Mackay
parent 7692761f34
commit 033ee3c900
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_AHRS/AP_AHRS.h
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@ -167,7 +167,11 @@ public:
}
// accelerometer values in the earth frame in m/s/s
const Vector3f &get_accel_ef(void) const { return _accel_ef[_ins.get_primary_accel()]; }
virtual const Vector3f &get_accel_ef(uint8_t i) const { return _accel_ef[i]; }
virtual const Vector3f &get_accel_ef(void) const { return get_accel_ef(_ins.get_primary_accel()); }
// blended accelerometer values in the earth frame in m/s/s
virtual const Vector3f &get_accel_ef_blended(void) const { return _accel_ef_blended; }
// get yaw rate in earth frame in radians/sec
float get_yaw_rate_earth(void) const { return get_gyro() * get_dcm_matrix().c; }
@ -410,6 +414,7 @@ protected:
// accelerometer values in the earth frame in m/s/s
Vector3f _accel_ef[INS_MAX_INSTANCES];
Vector3f _accel_ef_blended;
// Declare filter states for HPF and LPF used by complementary
// filter in AP_AHRS::groundspeed_vector