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AP_AHRS: getLastYawResetAngle returns reset time

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This commit is contained in:
Randy Mackay 2015-09-24 15:51:21 +09:00
parent 015f700bc0
commit 9f59b6f7b5
3 changed files with 6 additions and 9 deletions
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5
libraries/AP_AHRS/AP_AHRS.h
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@ -400,9 +400,8 @@ public:
};
// return the amount of yaw angle change due to the last yaw angle reset in radians
// returns true if a reset yaw angle has been updated and not queried
// this function should not have more than one client
virtual bool getLastYawResetAngle(float &yawAng) {
// returns the time of the last yaw angle reset or 0 if no reset has ever occurred
virtual uint32_t getLastYawResetAngle(float &yawAng) {
return false;
};

5
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -679,9 +679,8 @@ const char *AP_AHRS_NavEKF::prearm_failure_reason(void) const
}
// return the amount of yaw angle change due to the last yaw angle reset in radians
// returns true if a reset yaw angle has been updated and not queried
// this function should not have more than one client
bool AP_AHRS_NavEKF::getLastYawResetAngle(float &yawAng)
// returns the time of the last yaw angle reset or 0 if no reset has ever occurred
uint32_t AP_AHRS_NavEKF::getLastYawResetAngle(float &yawAng)
{
switch (ekf_type()) {
case 1:

5
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -143,9 +143,8 @@ public:
const char *prearm_failure_reason(void) const override;
// return the amount of yaw angle change due to the last yaw angle reset in radians
// returns true if a reset yaw angle has been updated and not queried
// this function should not have more than one client
bool getLastYawResetAngle(float &yawAng);
// returns the time of the last yaw angle reset or 0 if no reset has ever occurred
uint32_t getLastYawResetAngle(float &yawAng);
// Resets the baro so that it reads zero at the current height
// Resets the EKF height to zero