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AP_AHRS: move using_EKF to .cpp to make it easier in gdb

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This commit is contained in:
Andrew Tridgell 2014-02-15 09:24:12 +11:00
parent eedd88c2ec
commit be33a9634e
2 changed files with 7 additions and 1 deletions
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6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -227,4 +227,10 @@ bool AP_AHRS_NavEKF::get_relative_position_NED(Vector3f &vec) const
return false; return false;
} }
bool AP_AHRS_NavEKF::using_EKF(void) const
{
return ekf_started && _ekf_use && EKF.healthy();
}
#endif // AP_AHRS_NAVEKF_AVAILABLE #endif // AP_AHRS_NAVEKF_AVAILABLE

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -95,7 +95,7 @@ public:
void set_ekf_use(bool setting) { _ekf_use.set(setting); } void set_ekf_use(bool setting) { _ekf_use.set(setting); }
private: private:
bool using_EKF(void) const { return ekf_started && _ekf_use && EKF.healthy(); } bool using_EKF(void) const;
NavEKF EKF; NavEKF EKF;
AP_Baro &_baro; AP_Baro &_baro;