From 6c24a5ff37f8f88290cd3435d44389f13eb5781d Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 19 Apr 2022 23:45:39 +0100
Subject: [PATCH] AP_AHRS: add method to get view

---
 libraries/AP_AHRS/AP_AHRS.cpp | 8 --------
 libraries/AP_AHRS/AP_AHRS.h   | 4 ++--
 2 files changed, 2 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index cacf7591e3bd5..d086f815b2337 100644
--- 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
index a58ab57df7af8..26bbc5b504583 100644
--- 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;