mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF3: Add accessor function for vibration affected status
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@ -1990,3 +1990,15 @@ bool NavEKF3::yawAlignmentComplete(void) const
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}
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return core[primary].have_aligned_yaw();
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}
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// returns true when the state estimates for the selected core are significantly degraded by vibration
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bool NavEKF3::isVibrationAffected(int8_t instance) const
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{
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if (instance < 0 || instance >= num_cores) {
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instance = primary;
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}
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if (core) {
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return core[instance].isVibrationAffected();
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}
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return false;
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}
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@ -351,6 +351,10 @@ public:
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// returns true when the yaw angle has been aligned
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bool yawAlignmentComplete(void) const;
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// returns true when the state estimates for the selected core are significantly degraded by vibration
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// if instance < 0, the primary instance will be used
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bool isVibrationAffected(int8_t instance) const;
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private:
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uint8_t num_cores; // number of allocated cores
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uint8_t primary; // current primary core
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@ -403,6 +403,9 @@ public:
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void Log_Write(uint64_t time_us);
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// returns true when the state estimates are significantly degraded by vibration
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bool isVibrationAffected() const { return badIMUdata; }
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private:
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EKFGSF_yaw *yawEstimator;
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AP_DAL &dal;
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