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AP_NavEKF: Add missing function to return the NED to XYZ quaternion

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Paul Riseborough 2015-04-28 07:41:01 +10:00 committed by Randy Mackay
parent 2c4572eb50
commit dd1e0b2f0b
1 changed files with 5 additions and 0 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -5119,5 +5119,10 @@ Quaternion NavEKF::getDeltaQuaternion(void) const
return correctedDelAngQuat;
}
// return the quaternions defining the rotation from NED to XYZ (body) axes
void NavEKF::getQuaternion(Quaternion& ret) const
{
ret = state.quat;
}
#endif // HAL_CPU_CLASS