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AP_InertialNav: add get_origin function

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Jonathan Challinger 2015-02-02 18:11:48 -08:00 committed by Randy Mackay
parent 3b5228922e
commit c95e7b2282
3 changed files with 23 additions and 0 deletions
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7
libraries/AP_InertialNav/AP_InertialNav.h
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@ -79,6 +79,13 @@ public:
*/ */
virtual nav_filter_status get_filter_status() const; virtual nav_filter_status get_filter_status() const;
/**
* get_origin - returns the inertial navigation origin in lat/lon/alt
*
* @return origin Location
*/
virtual struct Location get_origin() const { return _ahrs.get_home(); }
// //
// XY Axis specific methods // XY Axis specific methods
// //

9
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp
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@ -51,6 +51,15 @@ nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
return AP_InertialNav::get_filter_status(); return AP_InertialNav::get_filter_status();
} }
struct Location AP_InertialNav_NavEKF::get_origin() const {
if (_ahrs.have_inertial_nav()) {
struct Location ret;
_ahrs_ekf.get_NavEKF().getOriginLLH(ret);
return ret;
}
return AP_InertialNav::get_origin();
}
/** /**
* get_position - returns the current position relative to the home location in cm. * get_position - returns the current position relative to the home location in cm.
* *

7
libraries/AP_InertialNav/AP_InertialNav_NavEKF.h
View File

@ -38,6 +38,13 @@ public:
*/ */
nav_filter_status get_filter_status() const; nav_filter_status get_filter_status() const;
/**
* get_origin - returns the inertial navigation origin in lat/lon/alt
*
* @return origin Location
*/
struct Location get_origin() const;
/** /**
* get_position - returns the current position relative to the home location in cm. * get_position - returns the current position relative to the home location in cm.
* *