From 033ee3c900afa80285fbc26e60433f4c91dda61f Mon Sep 17 00:00:00 2001 From: Jonathan Challinger Date: Fri, 31 Oct 2014 15:06:49 -0700 Subject: [PATCH] AP_AHRS: Add get_accel_ef_blended function --- libraries/AP_AHRS/AP_AHRS.h | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h index 8e5ae3b30f..095a751090 100644 --- a/libraries/AP_AHRS/AP_AHRS.h +++ b/libraries/AP_AHRS/AP_AHRS.h @@ -167,7 +167,11 @@ public: } // accelerometer values in the earth frame in m/s/s - const Vector3f &get_accel_ef(void) const { return _accel_ef[_ins.get_primary_accel()]; } + virtual const Vector3f &get_accel_ef(uint8_t i) const { return _accel_ef[i]; } + virtual const Vector3f &get_accel_ef(void) const { return get_accel_ef(_ins.get_primary_accel()); } + + // blended accelerometer values in the earth frame in m/s/s + virtual const Vector3f &get_accel_ef_blended(void) const { return _accel_ef_blended; } // get yaw rate in earth frame in radians/sec float get_yaw_rate_earth(void) const { return get_gyro() * get_dcm_matrix().c; } @@ -410,6 +414,7 @@ protected: // accelerometer values in the earth frame in m/s/s Vector3f _accel_ef[INS_MAX_INSTANCES]; + Vector3f _accel_ef_blended; // Declare filter states for HPF and LPF used by complementary // filter in AP_AHRS::groundspeed_vector