AP_NavEKF2: getDataEKFGSF and getYawData pass by reference

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -1693,7 +1693,7 @@ void NavEKF2::requestYawReset(void)
 
 // return data for debugging EKF-GSF yaw estimator
 // return false if data not available
-bool NavEKF2::getDataEKFGSF(int8_t instance, float *yaw_composite, float *yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) const
+bool NavEKF2::getDataEKFGSF(int8_t instance, float &yaw_composite, float &yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) const
 {
     if (instance < 0 || instance >= num_cores) instance = primary;
     if (core) {

libraries/AP_NavEKF2/AP_NavEKF2.h

@@ -367,7 +367,7 @@ public:
 
     // log debug data for yaw estimator
     // return false if data not available
-	bool getDataEKFGSF(int8_t instance, float *yaw_composite, float *yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) const;
+	bool getDataEKFGSF(int8_t instance, float &yaw_composite, float &yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) const;
 
 private:
     uint8_t num_cores; // number of allocated cores

libraries/AP_NavEKF2/AP_NavEKF2_Logging.cpp

@@ -280,7 +280,7 @@ void NavEKF2::Log_Write_GSF(uint8_t _core, uint64_t time_us) const
     float ive[N_MODELS_EKFGSF];
     float wgt[N_MODELS_EKFGSF];
 
-    if (getDataEKFGSF(_core, &yaw_composite, &yaw_composite_variance, yaw, ivn, ive, wgt)) {
+    if (getDataEKFGSF(_core, yaw_composite, yaw_composite_variance, yaw, ivn, ive, wgt)) {
         AP::logger().Write("GSF0",
                         "TimeUS,C,YC,YCS,Y0,Y1,Y2,Y3,Y4,W0,W1,W2,W3,W4",
                         "s#rrrrrrr-----",

libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp

@@ -840,7 +840,7 @@ void NavEKF2_core::fuseEulerYaw()
         } else {
             if (imuSampleTime_ms - prevBetaStep_ms > 1000 && yawEstimator != nullptr) {
                 float gsfYaw, gsfYawVariance;
-                if (yawEstimator->getYawData(&gsfYaw, &gsfYawVariance) &&
+                if (yawEstimator->getYawData(gsfYaw, gsfYawVariance) &&
                     is_positive(gsfYawVariance) &&
                     gsfYawVariance < sq(radians(15.0f))) {
                         measured_yaw = gsfYaw;
@@ -899,7 +899,7 @@ void NavEKF2_core::fuseEulerYaw()
         } else {
             if (imuSampleTime_ms - prevBetaStep_ms > 1000 && yawEstimator != nullptr) {
                 float gsfYaw, gsfYawVariance;
-                if (yawEstimator->getYawData(&gsfYaw, &gsfYawVariance) &&
+                if (yawEstimator->getYawData(gsfYaw, gsfYawVariance) &&
                     is_positive(gsfYawVariance) &&
                     gsfYawVariance < sq(radians(15.0f))) {
                         measured_yaw = gsfYaw;
@@ -1224,7 +1224,7 @@ bool NavEKF2_core::EKFGSF_resetMainFilterYaw()
     };
 
     float yawEKFGSF, yawVarianceEKFGSF;
-    if (yawEstimator->getYawData(&yawEKFGSF, &yawVarianceEKFGSF) && is_positive(yawVarianceEKFGSF) && yawVarianceEKFGSF < sq(radians(15.0f))) {
+    if (yawEstimator->getYawData(yawEKFGSF, yawVarianceEKFGSF) && is_positive(yawVarianceEKFGSF) && yawVarianceEKFGSF < sq(radians(15.0f))) {
 
         // keep roll and pitch and reset yaw
         resetQuatStateYawOnly(yawEKFGSF, yawVarianceEKFGSF, false);

libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp

@@ -633,7 +633,7 @@ bool NavEKF2_core::isExtNavUsedForYaw()
     return extNavUsedForYaw;
 }
 
-bool NavEKF2_core::getDataEKFGSF(float *yaw_composite, float *yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF])
+bool NavEKF2_core::getDataEKFGSF(float &yaw_composite, float &yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF])
 {
     if (yawEstimator != nullptr) {
         return yawEstimator->getLogData(yaw_composite, yaw_composite_variance, yaw, innov_VN, innov_VE, weight);

libraries/AP_NavEKF2/AP_NavEKF2_core.h

@@ -338,7 +338,7 @@ public:
 
     // get solution data for the EKF-GSF emergency yaw estimator
     // return false if data not available
-    bool getDataEKFGSF(float *yaw_composite, float *yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);
+    bool getDataEKFGSF(float &yaw_composite, float &yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);
 
     // Writes the default equivalent airspeed in m/s to be used in forward flight if a measured airspeed is required and not available.
     void writeDefaultAirSpeed(float airspeed);