From 5d40ec8014207a805c41eb6881261d99cbbe5165 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 24 Aug 2014 21:00:24 +1000
Subject: [PATCH] AP_NavEKF: make use_compass() public
---
libraries/AP_NavEKF/AP_NavEKF.h | 7 ++++---
1 file changed, 4 insertions(+), 3 deletions(-)
diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h
index d2b6b5dde..7f3252da3 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.h
+++ b/libraries/AP_NavEKF/AP_NavEKF.h
@@ -135,6 +135,10 @@ public:
// return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
void getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const;
+ // should we use the compass? This is public so it can be used for
+ // reporting via ahrs.use_compass()
+ bool use_compass(void) const;
+
/*
return the filter fault status as a bitmasked integer
0 = filter divergence detected via gyro bias growth
@@ -510,9 +514,6 @@ private:
perf_counter_t _perf_FuseSideslip;
#endif
- // should we use the compass?
- bool use_compass(void) const;
-
// should we assume zero sideslip?
bool assume_zero_sideslip(void) const;
};
--
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