AP_NavEKF: Split getAccelBias into getAccelZBias and getIMU1Weighting

libraries/AP_NavEKF/AP_NavEKF.cpp

@@ -2819,16 +2819,20 @@ void NavEKF::resetGyroBias(void)
 
 }
 
-// return weighting of first IMU in blending function and the individual Z-accel bias estimates in m/s^2
+// return weighting of first IMU in blending function
-void NavEKF::getAccelBias(Vector3f &accelBias) const
+void NavEKF::getIMU1Weighting(float &ret) const
 {
-    accelBias.x = IMU1_weighting;
+    ret = IMU1_weighting;
+}
+
+// return the individual Z-accel bias estimates in m/s^2
+void NavEKF::getAccelZBias(float &zbias1, float &zbias2) const {
     if (dtIMU == 0) {
-        accelBias.y = 0;
+        zbias1 = 0;
-        accelBias.z = 0;
+        zbias2 = 0;
     } else {
-        accelBias.y = state.accel_zbias2 / dtIMU;
+        zbias1 = state.accel_zbias1 / dtIMU;
-        accelBias.z = state.accel_zbias1 / dtIMU;
+        zbias2 = state.accel_zbias2 / dtIMU;
     }
 }
 

libraries/AP_NavEKF/AP_NavEKF.h

@@ -108,8 +108,11 @@ public:
     // reset body axis gyro bias estimates
     void resetGyroBias(void);
 
-    // return weighting of first IMU in blending function and the individual Z-accel bias estimates in m/s^2
+    // return weighting of first IMU in blending function
-    void getAccelBias(Vector3f &accelBias) const;
+    void getIMU1Weighting(float &ret) const;
+
+    // return the individual Z-accel bias estimates in m/s^2
+    void getAccelZBias(float &zbias1, float &zbias2) const;
 
     // return the NED wind speed estimates in m/s (positive is air moving in the direction of the axis)
     void getWind(Vector3f &wind) const;