EKF add typed Quatf getter

PX4 · Nov 14, 2018 · 572710e · 572710e
1 parent 8a2e512
commit 572710e
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
@@ -286,6 +286,8 @@ class EstimatorInterface
 		}
 	}
 
+	const matrix::Quatf &get_quaternion() const { return _output_new.quat_nominal; }
+
 	// return the quaternion defining the rotation from the EKF to the External Vision reference frame
 	virtual void get_ekf2ev_quaternion(float *quat) = 0;