From 9dc618ddd418c7b0d9f92a7915a67ed658f7a524 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 17 Nov 2019 16:26:22 +1100
Subject: [PATCH] AP_InertialSensor: added gyro_harmonic_notch_enabled()
---
libraries/AP_InertialSensor/AP_InertialSensor.h | 3 +++
libraries/AP_InertialSensor/AP_InertialSensor_Backend.h | 4 ++--
2 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index 8df2b9caf9..0ff1aaa84f 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -243,6 +243,9 @@ public:
// check for vibration movement. True when all axis show nearly zero movement
bool is_still();
+ // return true if harmonic notch enabled
+ bool gyro_harmonic_notch_enabled(void) const { return _harmonic_notch_filter.enabled(); }
+
/*
HIL set functions. The minimum for HIL is set_accel() and
set_gyro(). The others are option for higher fidelity log
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
index 8befc03edf..dc1b770fd1 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -244,7 +244,7 @@ protected:
// return the notch filter attenuation in dB for the sample rate
float _gyro_notch_attenuation_dB(void) const { return _imu._notch_filter.attenuation_dB(); }
- uint8_t _gyro_notch_enabled(void) const { return _imu._notch_filter.enabled(); }
+ bool _gyro_notch_enabled(void) const { return _imu._notch_filter.enabled(); }
// return the harmonic notch filter center in Hz for the sample rate
float gyro_harmonic_notch_center_freq_hz() const { return _imu._calculated_harmonic_notch_freq_hz; }
@@ -255,7 +255,7 @@ protected:
// return the harmonic notch filter attenuation in dB for the sample rate
float gyro_harmonic_notch_attenuation_dB(void) const { return _imu._harmonic_notch_filter.attenuation_dB(); }
- uint8_t gyro_harmonic_notch_enabled(void) const { return _imu._harmonic_notch_filter.enabled(); }
+ bool gyro_harmonic_notch_enabled(void) const { return _imu._harmonic_notch_filter.enabled(); }
// common gyro update function for all backends
void update_gyro(uint8_t instance);