From fad0b2b233fc92c700e927d811a7366fe0a62ed6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 19 Feb 2014 10:28:14 +1100
Subject: [PATCH] AP_AHRS: added get_correct_centrifugal()

used by NavEKF to force static mode
---
 libraries/AP_AHRS/AP_AHRS.h          | 7 ++++++-
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 6 ------
 libraries/AP_AHRS/AP_AHRS_NavEKF.h   | 2 --
 3 files changed, 6 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index ac13eefcdb..fae7e66cb6 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -234,10 +234,15 @@ public:
 
     // set the correct centrifugal flag
     // allows arducopter to disable corrections when disarmed
-    virtual void set_correct_centrifugal(bool setting) {
+    void set_correct_centrifugal(bool setting) {
         _flags.correct_centrifugal = setting;
     }
 
+    // get the correct centrifugal flag
+    bool get_correct_centrifugal(void) const {
+        return _flags.correct_centrifugal;
+    }
+
     // get trim
     const Vector3f &get_trim() const { return _trim.get(); }
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index cdbb23c680..cb7ac31fe1 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -90,12 +90,6 @@ void AP_AHRS_NavEKF::reset(bool recover_eulers)
     }
 }
 
-void AP_AHRS_NavEKF::set_correct_centrifugal(bool setting)
-{
-    AP_AHRS_DCM::set_correct_centrifugal(setting);
-    EKF.SetStaticMode(!setting);
-}
-
 // reset the current attitude, used on new IMU calibration
 void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
 {
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 1956f484c9..dfc9b00dc2 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -52,8 +52,6 @@ public:
     void            update(void);
     void            reset(bool recover_eulers = false);
 
-    void            set_correct_centrifugal(bool setting);
-
     // reset the current attitude, used on new IMU calibration
     void reset_attitude(const float &roll, const float &pitch, const float &yaw);