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AP_NavEKF3: allow access to quaternion for each instance

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This commit is contained in:
Andrew Tridgell 2017-04-15 20:36:39 +10:00
parent 9f3c2cb704
commit 248773a7c8
2 changed files with 4 additions and 3 deletions
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5
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1037,10 +1037,11 @@ void NavEKF3::getRotationBodyToNED(Matrix3f &mat) const
} }
// return the quaternions defining the rotation from NED to XYZ (body) axes // return the quaternions defining the rotation from NED to XYZ (body) axes
void NavEKF3::getQuaternion(Quaternion &quat) const void NavEKF3::getQuaternion(int8_t instance, Quaternion &quat) const
{ {
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) { if (core) {
core[primary].getQuaternion(quat); core[instance].getQuaternion(quat);
} }
} }

2
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -170,7 +170,7 @@ public:
void getRotationBodyToNED(Matrix3f &mat) const; void getRotationBodyToNED(Matrix3f &mat) const;
// return the quaternions defining the rotation from NED to XYZ (body) axes // return the quaternions defining the rotation from NED to XYZ (body) axes
void getQuaternion(Quaternion &quat) const; void getQuaternion(int8_t instance, Quaternion &quat) const;
// return the innovations for the specified instance // return the innovations for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance // An out of range instance (eg -1) returns data for the the primary instance