From 5decc08dd43e4adcb7050ec96d4300686cb6002d Mon Sep 17 00:00:00 2001 From: nrt Date: Sat, 6 Aug 2022 20:40:34 +0530 Subject: [PATCH] AP_NavEKF: added a getter function for active source set --- libraries/AP_NavEKF/AP_NavEKF_Source.cpp | 6 ++++++ libraries/AP_NavEKF/AP_NavEKF_Source.h | 3 +++ 2 files changed, 9 insertions(+) diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp index 6564165557..3684c9b9e3 100644 --- a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp @@ -524,6 +524,12 @@ bool AP_NavEKF_Source::wheel_encoder_enabled(void) const return false; } +// returns active source set +uint8_t AP_NavEKF_Source::get_active_source_set() const +{ + return active_source_set; +} + // return true if GPS yaw is enabled on any source bool AP_NavEKF_Source::gps_yaw_enabled(void) const { diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.h b/libraries/AP_NavEKF/AP_NavEKF_Source.h index 731e62b905..ca9969d63a 100644 --- a/libraries/AP_NavEKF/AP_NavEKF_Source.h +++ b/libraries/AP_NavEKF/AP_NavEKF_Source.h @@ -103,6 +103,9 @@ public: // return true if wheel encoder is enabled on any source bool wheel_encoder_enabled(void) const; + // returns active source set + uint8_t get_active_source_set() const; + static const struct AP_Param::GroupInfo var_info[]; private: