aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_AHRS: expose EKF2 for logging

Browse Source
This commit is contained in:
Andrew Tridgell 2015-09-23 12:09:36 +10:00
parent 760dafbb9d
commit 13f72e5ba9
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -81,6 +81,9 @@ AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &
NavEKF &get_NavEKF(void) { return EKF1; }
const NavEKF &get_NavEKF_const(void) const { return EKF1; }
NavEKF2 &get_NavEKF2(void) { return EKF2; }
const NavEKF2 &get_NavEKF2_const(void) const { return EKF2; }
// return secondary attitude solution if available, as eulers in radians
bool get_secondary_attitude(Vector3f &eulers);