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AP_AHRS: expose active EKF type for logging

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Andrew Tridgell 2020-12-31 08:40:24 +11:00 committed by Peter Barker
parent 7cc71dc573
commit 9dbd2d3eba
2 changed files with 8 additions and 0 deletions
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3
libraries/AP_AHRS/AP_AHRS.h
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@ -604,6 +604,9 @@ public:
return _rsem; return _rsem;
} }
// active EKF type for logging
virtual uint8_t get_active_EKF_type(void) const { return 0; }
// for holding parameters // for holding parameters
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];

5
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -317,6 +317,11 @@ public:
// set and save the ALT_M_NSE parameter value // set and save the ALT_M_NSE parameter value
void set_alt_measurement_noise(float noise) override; void set_alt_measurement_noise(float noise) override;
// active EKF type for logging
uint8_t get_active_EKF_type(void) const override {
return uint8_t(active_EKF_type());
}
// these are only out here so vehicles can reference them for parameters // these are only out here so vehicles can reference them for parameters
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
NavEKF2 EKF2; NavEKF2 EKF2;