diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h index d2b6b5dde7..7f3252da31 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; };