AP_InertialSensor: expose harmonic notch tracking mode

5 years ago · ca19be9d7c
1 changed files with 3 additions and 0 deletions
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@ -224,6 +224,9 @@ public:
				@@ -224,6 +224,9 @@ public:
    // harmonic notch reference scale factor
    float get_gyro_harmonic_notch_reference(void) const { return _harmonic_notch_filter.reference(); }

+    // harmonic notch tracking mode
+    uint8_t get_gyro_harmonic_notch_tracking_mode(void) const { return _harmonic_notch_filter.tracking_mode(); }
+
    // indicate which bit in LOG_BITMASK indicates raw logging enabled
    void set_log_raw_bit(uint32_t log_raw_bit) { _log_raw_bit = log_raw_bit; }