From 6158d6d8419338c220fd097a9d952c5b246ed891 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 2 Nov 2020 13:05:08 -0500 Subject: [PATCH] EKF: add const reference getters for status flags --- EKF/estimator_interface.h | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h index 9aee41ff8a..d7b9b352bc 100644 --- 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; }