From 6a5f1c0bec5a259308d3049139c4e8979c08c50a Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Tue, 29 Mar 2016 13:06:56 -0700 Subject: [PATCH] AP_AHRS_NavEKF: reflect changes to getMagOffsets --- libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 6 +++--- libraries/AP_AHRS/AP_AHRS_NavEKF.h | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp index 0e3a4ae07a..9575014734 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp @@ -981,16 +981,16 @@ void AP_AHRS_NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVel // get compass offset estimates // true if offsets are valid -bool AP_AHRS_NavEKF::getMagOffsets(Vector3f &magOffsets) +bool AP_AHRS_NavEKF::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) { switch (ekf_type()) { case 0: case 1: - return EKF1.getMagOffsets(magOffsets); + return EKF1.getMagOffsets(mag_idx, magOffsets); case 2: default: - return EKF2.getMagOffsets(magOffsets); + return EKF2.getMagOffsets(mag_idx, magOffsets); #if CONFIG_HAL_BOARD == HAL_BOARD_SITL case EKF_TYPE_SITL: diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h index ca65007c93..21115bc070 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h @@ -164,7 +164,7 @@ public: // get compass offset estimates // true if offsets are valid - bool getMagOffsets(Vector3f &magOffsets); + bool getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets); // report any reason for why the backend is refusing to initialise const char *prearm_failure_reason(void) const override;