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AP_AHRS: Expand EKF speed limit public method to handle control limits

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priseborough 2014-11-16 12:42:30 +11:00 committed by Andrew Tridgell
parent d994da0886
commit 5b8265ad6f
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -328,9 +328,9 @@ uint8_t AP_AHRS_NavEKF::setInhibitGPS(void)
}
// get speed limit
float AP_AHRS_NavEKF::getSpeedLimit(void)
void AP_AHRS_NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler)
{
return EKF.getSpeedLimit();
EKF.getEkfControlLimits(ekfGndSpdLimit,ekfNavVelGainScaler);
}
#endif // AP_AHRS_NAVEKF_AVAILABLE

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -108,7 +108,7 @@ public:
uint8_t setInhibitGPS(void);
// get speed limit
float getSpeedLimit(void);
void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler);
void set_ekf_use(bool setting) { _ekf_use.set(setting); }