AP_AHRS: add method to get view

hzi-braunschweig · Apr 26, 2022 · 6c24a5f · 6c24a5f
1 parent 04fdfea
commit 6c24a5f
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Showing 2 changed files with 2 additions and 10 deletions.
diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -3207,14 +3207,6 @@ void AP_AHRS::set_alt_measurement_noise(float noise)
 #endif
 }
 
-/*
-  get the current view's rotation, or ROTATION_NONE
- */
-enum Rotation AP_AHRS::get_view_rotation(void) const
-{
-    return _view?_view->get_rotation():ROTATION_NONE;
-}
-
 // check if non-compass sensor is providing yaw.  Allows compass pre-arm checks to be bypassed
 const EKFGSF_yaw *AP_AHRS::get_yaw_estimator(void) const
 {

diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
@@ -609,8 +609,8 @@ class AP_AHRS {
         _vehicle_class = vclass;
     }
 
-    // get the view's rotation, or ROTATION_NONE
-    enum Rotation get_view_rotation(void) const;
+    // get the view
+    AP_AHRS_View *get_view(void) const { return _view; };
 
     // get access to an EKFGSF_yaw estimator
     const EKFGSF_yaw *get_yaw_estimator(void) const;