From c8e3c241504a511c4ceba8381d0b3d37a4d2abb4 Mon Sep 17 00:00:00 2001
From: CarlOlsson <carlolsson.co@gmail.com>
Date: Tue, 12 Jul 2016 18:46:07 +0200
Subject: [PATCH] adopted ekf_helper.cpp

---
 EKF/ekf_helper.cpp | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index a64b1b0802..8e21be4aeb 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -580,6 +580,12 @@ void Ekf::get_airspeed_innov(float *airspeed_innov)
 	memcpy(airspeed_innov,&_airspeed_innov, sizeof(float));
 }
 
+// gets the innovations of the synthetic sideslip measurements
+void Ekf::get_beta_innov(float *beta_innov)
+{
+	memcpy(beta_innov,&_beta_innov, sizeof(float));
+}
+
 // gets the innovations of the heading measurement
 void Ekf::get_heading_innov(float *heading_innov)
 {
@@ -605,6 +611,12 @@ void Ekf::get_airspeed_innov_var(float *airspeed_innov_var)
 	memcpy(airspeed_innov_var, &_airspeed_innov_var, sizeof(float));
 }
 
+// gets the innovation variance of the synthetic sideslip measurement
+void Ekf::get_beta_innov_var(float *beta_innov_var)
+{
+	memcpy(beta_innov_var, &_beta_innov_var, sizeof(float));
+}
+
 // gets the innovation variance of the heading measurement
 void Ekf::get_heading_innov_var(float *heading_innov_var)
 {