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AP_AHRS: Publish EKF ground speed limit

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priseborough 2014-11-16 10:36:33 +11:00 committed by Andrew Tridgell
parent bc2255d6b1
commit 83775554ea
2 changed files with 11 additions and 1 deletions
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9
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -324,7 +324,14 @@ void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlo
// inhibit GPS useage
uint8_t AP_AHRS_NavEKF::setInhibitGPS(void)
{
return EKF.setInhibitGPS();;
return EKF.setInhibitGPS();
}
// get speed limit
float AP_AHRS_NavEKF::getSpeedLimit(void)
{
return EKF.getSpeedLimit();
}
#endif // AP_AHRS_NAVEKF_AVAILABLE

3
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -107,6 +107,9 @@ public:
// inibit GPS useage
uint8_t setInhibitGPS(void);
// get speed limit
float getSpeedLimit(void);
void set_ekf_use(bool setting) { _ekf_use.set(setting); }
// is the AHRS subsystem healthy?