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AP_AHRS: add a singleton-getter cast into AP_AHRS_NavEKF

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This will allow libraries which absolutely require the EKF to easily get
a cast copy of the singleton.
This commit is contained in:
Peter Barker 2018-04-06 22:17:04 +10:00 committed by Francisco Ferreira
parent c83ff0e156
commit 4d944da530
2 changed files with 12 additions and 0 deletions
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6
libraries/AP_AHRS/AP_AHRS.h
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@ -686,4 +686,10 @@ private:
namespace AP { namespace AP {
AP_AHRS &ahrs(); AP_AHRS &ahrs();
// use ahrs_navekf() only where the AHRS interface doesn't expose the
// functionality you require:
#if AP_AHRS_NAVEKF_AVAILABLE
AP_AHRS_NavEKF &ahrs_navekf();
#endif
}; };

6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1642,5 +1642,11 @@ uint8_t AP_AHRS_NavEKF::get_primary_gyro_index(void) const
return AP::ins().get_primary_gyro(); return AP::ins().get_primary_gyro();
} }
AP_AHRS_NavEKF &AP::ahrs_navekf()
{
return static_cast<AP_AHRS_NavEKF&>(*AP_AHRS::get_singleton());
}
#endif // AP_AHRS_NAVEKF_AVAILABLE #endif // AP_AHRS_NAVEKF_AVAILABLE