Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 15:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_ExternalAHRS: make get_accel() and get_gyro() bool

Browse Source
This commit is contained in:
Andrew Tridgell 2024-02-27 09:20:39 +11:00 committed by Peter Barker
parent 9fd3e4169a
commit 9770855c9d
2 changed files with 14 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
View File

@ -250,16 +250,24 @@ void AP_ExternalAHRS::get_filter_status(nav_filter_status &status) const
} }
} }
Vector3f AP_ExternalAHRS::get_gyro(void) bool AP_ExternalAHRS::get_gyro(Vector3f &gyro)
{ {
WITH_SEMAPHORE(state.sem); WITH_SEMAPHORE(state.sem);
return state.gyro; if (!has_sensor(AvailableSensor::IMU)) {
return false;
}
gyro = state.gyro;
return true;
} }
Vector3f AP_ExternalAHRS::get_accel(void) bool AP_ExternalAHRS::get_accel(Vector3f &accel)
{ {
WITH_SEMAPHORE(state.sem); WITH_SEMAPHORE(state.sem);
return state.accel; if (!has_sensor(AvailableSensor::IMU)) {
return false;
}
accel = state.accel;
return true;
} }
// send an EKF_STATUS message to GCS // send an EKF_STATUS message to GCS

4
libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
View File

@ -115,8 +115,8 @@ public:
bool get_speed_down(float &speedD); bool get_speed_down(float &speedD);
bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const; bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const;
void get_filter_status(nav_filter_status &status) const; void get_filter_status(nav_filter_status &status) const;
Vector3f get_gyro(void); bool get_gyro(Vector3f &gyro);
Vector3f get_accel(void); bool get_accel(Vector3f &accel);
void send_status_report(class GCS_MAVLINK &link) const; void send_status_report(class GCS_MAVLINK &link) const;
// update backend // update backend