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AP_AHRS : Publish EKF learned compass offsets

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This commit is contained in:
Paul Riseborough 2015-03-16 14:29:11 -07:00 committed by Jonathan Challinger
parent 10f050c53b
commit d44cf14178
2 changed files with 12 additions and 0 deletions
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8
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -344,5 +344,13 @@ void AP_AHRS_NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVel
EKF.getEkfControlLimits(ekfGndSpdLimit,ekfNavVelGainScaler); EKF.getEkfControlLimits(ekfGndSpdLimit,ekfNavVelGainScaler);
} }
// get compass offset estimates
// true if offsets are valid
bool AP_AHRS_NavEKF::getMagOffsets(Vector3f &magOffsets)
{
bool status = EKF.getMagOffsets(magOffsets);
return status;
}
#endif // AP_AHRS_NAVEKF_AVAILABLE #endif // AP_AHRS_NAVEKF_AVAILABLE

4
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -120,6 +120,10 @@ public:
// true if the AHRS has completed initialisation // true if the AHRS has completed initialisation
bool initialised(void) const; bool initialised(void) const;
// get compass offset estimates
// true if offsets are valid
bool getMagOffsets(Vector3f &magOffsets);
private: private:
bool using_EKF(void) const; bool using_EKF(void) const;