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AP_NavEKF: make use_compass() public

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Andrew Tridgell 2014-08-24 21:00:24 +10:00 committed by Randy Mackay
parent ec2308bcd2
commit 6a654ff461
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_NavEKF/AP_NavEKF.h
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@ -135,6 +135,10 @@ public:
// return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
void getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const;
// should we use the compass? This is public so it can be used for
// reporting via ahrs.use_compass()
bool use_compass(void) const;
/*
return the filter fault status as a bitmasked integer
0 = filter divergence detected via gyro bias growth
@ -510,9 +514,6 @@ private:
perf_counter_t _perf_FuseSideslip;
#endif
// should we use the compass?
bool use_compass(void) const;
// should we assume zero sideslip?
bool assume_zero_sideslip(void) const;
};