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AP_ExternalAHRS: make get_accel() and get_gyro() bool

This commit is contained in:
Andrew Tridgell 2024-02-27 09:20:39 +11:00 committed by Peter Barker
parent 77e5446595
commit c6c0de9889
2 changed files with 14 additions and 6 deletions
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16
libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
View File

@ -250,16 +250,24 @@ void AP_ExternalAHRS::get_filter_status(nav_filter_status &status) const
}
}
Vector3f AP_ExternalAHRS::get_gyro(void)
bool AP_ExternalAHRS::get_gyro(Vector3f &gyro)
{
WITH_SEMAPHORE(state.sem);
return state.gyro;
if (!has_sensor(AvailableSensor::IMU)) {
return false;
}
gyro = state.gyro;
return true;
}
Vector3f AP_ExternalAHRS::get_accel(void)
bool AP_ExternalAHRS::get_accel(Vector3f &accel)
{
WITH_SEMAPHORE(state.sem);
return state.accel;
if (!has_sensor(AvailableSensor::IMU)) {
return false;
}
accel = state.accel;
return true;
}
// send an EKF_STATUS message to GCS

4
libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
View File

@ -115,8 +115,8 @@ public:
bool get_speed_down(float &speedD);
bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const;
void get_filter_status(nav_filter_status &status) const;
Vector3f get_gyro(void);
Vector3f get_accel(void);
bool get_gyro(Vector3f &gyro);
bool get_accel(Vector3f &accel);
void send_status_report(class GCS_MAVLINK &link) const;
// update backend