From be33a9634ea844e4b47b0dc00a73937b682acfb8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 15 Feb 2014 09:24:12 +1100 Subject: [PATCH] AP_AHRS: move using_EKF to .cpp to make it easier in gdb --- libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 6 ++++++ libraries/AP_AHRS/AP_AHRS_NavEKF.h | 2 +- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp index 6d0ae49aa9..cdbb23c680 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp @@ -227,4 +227,10 @@ bool AP_AHRS_NavEKF::get_relative_position_NED(Vector3f &vec) const return false; } +bool AP_AHRS_NavEKF::using_EKF(void) const +{ + return ekf_started && _ekf_use && EKF.healthy(); +} + #endif // AP_AHRS_NAVEKF_AVAILABLE + diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h index 6462332263..1bc1bf6a92 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h @@ -95,7 +95,7 @@ public: void set_ekf_use(bool setting) { _ekf_use.set(setting); } private: - bool using_EKF(void) const { return ekf_started && _ekf_use && EKF.healthy(); } + bool using_EKF(void) const; NavEKF EKF; AP_Baro &_baro;