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AP_NavEKF3: Allow reporting of origin height for specified instance

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priseborough 2017-05-30 11:37:46 +10:00 committed by Francisco Ferreira
parent 77d21f72d4
commit 3ae7998f51
2 changed files with 8 additions and 5 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1001,15 +1001,17 @@ bool NavEKF3::getLLH(struct Location &loc) const
return core[primary].getLLH(loc);
}
// return the latitude and longitude and height used to set the NED origin
// Return the latitude and longitude and height used to set the NED origin for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
// All NED positions calculated by the filter are relative to this location
// Returns false if the origin has not been set
bool NavEKF3::getOriginLLH(struct Location &loc) const
bool NavEKF3::getOriginLLH(int8_t instance, struct Location &loc) const
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (!core) {
return false;
}
return core[primary].getOriginLLH(loc);
return core[instance].getOriginLLH(loc);
}
// set the latitude and longitude and height used to set the NED origin

5
libraries/AP_NavEKF3/AP_NavEKF3.h
View File

@ -147,10 +147,11 @@ public:
// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
bool getLLH(struct Location &loc) const;
// return the latitude and longitude and height used to set the NED origin
// Return the latitude and longitude and height used to set the NED origin for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
// All NED positions calculated by the filter are relative to this location
// Returns false if the origin has not been set
bool getOriginLLH(struct Location &loc) const;
bool getOriginLLH(int8_t instance, struct Location &loc) const;
// set the latitude and longitude and height used to set the NED origin
// All NED positions calculated by the filter will be relative to this location