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AP_NavEKF: added a getter function for active source set

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nrt 2022-08-06 20:40:34 +05:30 committed by Randy Mackay
parent 0c65cd1b47
commit 5decc08dd4
2 changed files with 9 additions and 0 deletions
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6
libraries/AP_NavEKF/AP_NavEKF_Source.cpp
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@ -524,6 +524,12 @@ bool AP_NavEKF_Source::wheel_encoder_enabled(void) const
return false;
}
// returns active source set
uint8_t AP_NavEKF_Source::get_active_source_set() const
{
return active_source_set;
}
// return true if GPS yaw is enabled on any source
bool AP_NavEKF_Source::gps_yaw_enabled(void) const
{

3
libraries/AP_NavEKF/AP_NavEKF_Source.h
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@ -103,6 +103,9 @@ public:
// return true if wheel encoder is enabled on any source
bool wheel_encoder_enabled(void) const;
// returns active source set
uint8_t get_active_source_set() const;
static const struct AP_Param::GroupInfo var_info[];
private: