From 128920824485eca7ba9ed4635da704785c8ff9f6 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 11 Jun 2015 22:17:11 +0900
Subject: [PATCH] LowPassFilter: add get method

---
 libraries/Filter/LowPassFilter.h | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/libraries/Filter/LowPassFilter.h b/libraries/Filter/LowPassFilter.h
index e2d5b798db..c9cf775331 100644
--- a/libraries/Filter/LowPassFilter.h
+++ b/libraries/Filter/LowPassFilter.h
@@ -158,6 +158,15 @@ public:
         return ret;
     }
 
+    // get latest filtered value from filter (equal to the value returned by latest call to apply method)
+    Vector3f get() const {
+        Vector3f ret;
+        ret.x = _filter_x.get();
+        ret.y = _filter_y.get();
+        ret.z = _filter_z.get();
+        return ret;
+    }
+
     void reset(const Vector3f& value) {
         _filter_x.reset(value.x);
         _filter_y.reset(value.y);