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AP_VisualOdom: rename for AHRS restructuring

This commit is contained in:
Peter Barker 2021-07-20 22:16:32 +10:00 committed by Peter Barker
parent 7cca7513a1
commit 1ae7d68988
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
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@ -57,13 +57,13 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
// send to EKF
const float time_delta_sec = packet.time_delta_usec / 1000000.0f;
AP::ahrs_navekf().writeBodyFrameOdom(packet.confidence,
position_delta,
angle_delta,
time_delta_sec,
now_ms,
_frontend.get_delay_ms(),
_frontend.get_pos_offset());
AP::ahrs().writeBodyFrameOdom(packet.confidence,
position_delta,
angle_delta,
time_delta_sec,
now_ms,
_frontend.get_delay_ms(),
_frontend.get_pos_offset());
// log sensor data
Write_VisualOdom(time_delta_sec,