mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-22 08:38:36 -04:00
AP_AHRS: add accessor for GSF yaw estimator
This commit is contained in:
parent
001f6a29ee
commit
bdf903b862
@ -3132,6 +3132,31 @@ enum Rotation AP_AHRS::get_view_rotation(void) const
|
|||||||
return _view?_view->get_rotation():ROTATION_NONE;
|
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
|
// singleton instance
|
||||||
AP_AHRS *AP_AHRS::_singleton;
|
AP_AHRS *AP_AHRS::_singleton;
|
||||||
|
|
||||||
|
@ -53,6 +53,9 @@ class AP_AHRS_View;
|
|||||||
|
|
||||||
#include <AP_NMEA_Output/AP_NMEA_Output.h>
|
#include <AP_NMEA_Output/AP_NMEA_Output.h>
|
||||||
|
|
||||||
|
// fwd declare GSF estimator
|
||||||
|
class EKFGSF_yaw;
|
||||||
|
|
||||||
class AP_AHRS {
|
class AP_AHRS {
|
||||||
friend class AP_AHRS_View;
|
friend class AP_AHRS_View;
|
||||||
public:
|
public:
|
||||||
@ -594,6 +597,9 @@ public:
|
|||||||
// get the view's rotation, or ROTATION_NONE
|
// get the view's rotation, or ROTATION_NONE
|
||||||
enum Rotation get_view_rotation(void) const;
|
enum Rotation get_view_rotation(void) const;
|
||||||
|
|
||||||
|
// get access to an EKFGSF_yaw estimator
|
||||||
|
const EKFGSF_yaw *get_yaw_estimator(void) const;
|
||||||
|
|
||||||
private:
|
private:
|
||||||
|
|
||||||
// optional view class
|
// optional view class
|
||||||
|
Loading…
Reference in New Issue
Block a user