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AP_AHRS: add accessor for GSF yaw estimator

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This commit is contained in:
Andrew Tridgell 2021-10-14 19:48:04 +11:00
parent 001f6a29ee
commit bdf903b862
2 changed files with 31 additions and 0 deletions
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25
libraries/AP_AHRS/AP_AHRS.cpp
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@ -3132,6 +3132,31 @@ enum Rotation AP_AHRS::get_view_rotation(void) const
return _view?_view->get_rotation():ROTATION_NONE;
}
// check if non-compass sensor is providing yaw. Allows compass pre-arm checks to be bypassed
const EKFGSF_yaw *AP_AHRS::get_yaw_estimator(void) const
{
switch (active_EKF_type()) {
#if HAL_NAVEKF2_AVAILABLE
case EKFType::TWO:
return EKF2.get_yawEstimator();
#endif
case EKFType::NONE:
#if HAL_NAVEKF3_AVAILABLE
case EKFType::THREE:
return EKF3.get_yawEstimator();
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case EKFType::SIM:
#endif
#if HAL_EXTERNAL_AHRS_ENABLED
case EKFType::EXTERNAL:
#endif
return nullptr;
}
// since there is no default case above, this is unreachable
return nullptr;
}
// singleton instance
AP_AHRS *AP_AHRS::_singleton;

6
libraries/AP_AHRS/AP_AHRS.h
View File

@ -53,6 +53,9 @@ class AP_AHRS_View;
#include <AP_NMEA_Output/AP_NMEA_Output.h>
// fwd declare GSF estimator
class EKFGSF_yaw;
class AP_AHRS {
friend class AP_AHRS_View;
public:
@ -594,6 +597,9 @@ public:
// get the view's rotation, or ROTATION_NONE
enum Rotation get_view_rotation(void) const;
// get access to an EKFGSF_yaw estimator
const EKFGSF_yaw *get_yaw_estimator(void) const;
private:
// optional view class