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EKF: publish control mode status

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Paul Riseborough
2016-04-16 12:41:50 +10:00
parent 60abf07bee
commit 6fa13c7806
1 changed files with 6 additions and 0 deletions
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EKF/estimator_interface.h
+6
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@@ -211,6 +211,12 @@ public:
virtual void get_accel_bias(float *bias) = 0;
// get EKF mode status
void get_control_mode(uint16_t *val)
{
*val = _control_status.value;
}
protected:
parameters _params; // filter parameters