EKF: add const reference getters for status flags

PX4 · Nov 2, 2020 · 6158d6d · 6158d6d
1 parent a210928
commit 6158d6d
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
@@ -200,9 +200,14 @@ class EstimatorInterface
 
 	// get EKF mode status
 	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
 	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; }