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EKF: add const reference getters for status flags

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This commit is contained in:
Daniel Agar
2020-11-02 13:05:08 -05:00
committed by GitHub
parent a21092804a
commit 6158d6d841
1 changed files with 5 additions and 0 deletions
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EKF/estimator_interface.h
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@@ -200,9 +200,14 @@ public:
// get EKF mode status // get EKF mode status
void get_control_mode(uint32_t *val) const { *val = _control_status.value; } void get_control_mode(uint32_t *val) const { *val = _control_status.value; }
const decltype(filter_control_status_u::flags) &control_status_flags() const { return _control_status.flags; }
const decltype(filter_control_status_u::flags) &control_status_prev_flags() const { return _control_status_prev.flags; }
// get EKF internal fault status // get EKF internal fault status
void get_filter_fault_status(uint16_t *val) const { *val = _fault_status.value; } void get_filter_fault_status(uint16_t *val) const { *val = _fault_status.value; }
const decltype(fault_status_u::flags) &fault_status_flags() const { return _fault_status.flags; }
const decltype(innovation_fault_status_u::flags) &innov_check_fail_status_flags() const { return _innov_check_fail_status.flags; }
bool isVehicleAtRest() const { return _control_status.flags.vehicle_at_rest; } bool isVehicleAtRest() const { return _control_status.flags.vehicle_at_rest; }