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AP_NavEKF2: Update publishing of primary core index

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Changes made in response to review comments
This commit is contained in:
Paul Riseborough 2015-11-06 14:04:22 +11:00 committed by Andrew Tridgell
parent 1858da8307
commit 2dcaeb0304
2 changed files with 6 additions and 7 deletions
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9
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -526,14 +526,13 @@ bool NavEKF2::healthy(void) const
} }
// returns the index of the primary core // returns the index of the primary core
// return false if no primary core selected // return -1 if no primary core selected
bool NavEKF2::getPrimaryCoreIndex(uint8_t index) const int8_t NavEKF2::getPrimaryCoreIndex(void) const
{ {
if (!core) { if (!core) {
return false; return -1;
} }
index = primary; return primary;
return true;
} }

4
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -58,8 +58,8 @@ public:
bool healthy(void) const; bool healthy(void) const;
// returns the index of the primary core // returns the index of the primary core
// return false if no primary core selected // return -1 if no primary core selected
bool getPrimaryCoreIndex(uint8_t index) const; int8_t getPrimaryCoreIndex(void) const;
// Return the last calculated NED position relative to the reference point (m). // Return the last calculated NED position relative to the reference point (m).
// If a calculated solution is not available, use the best available data and return false // If a calculated solution is not available, use the best available data and return false