From 2164293cc07184ba6b173fcdc3ac6a77864ab426 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 13 Apr 2020 12:26:57 +0900 Subject: [PATCH] AP_VisualOdom: remove sensor position from call to ahrs writeExtNavData --- libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp | 2 +- libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp index c7c1d9cf41..8b0601c449 100644 --- a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp +++ b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp @@ -44,7 +44,7 @@ void AP_VisualOdom_IntelT265::handle_vision_position_estimate(uint64_t remote_ti // send attitude and position to EKF const float posErr = 0; // parameter required? const float angErr = 0; // parameter required? - AP::ahrs().writeExtNavData(_frontend.get_pos_offset(), pos, att, posErr, angErr, time_ms, get_reset_timestamp_ms(reset_counter)); + AP::ahrs().writeExtNavData(pos, att, posErr, angErr, time_ms, get_reset_timestamp_ms(reset_counter)); // calculate euler orientation for logging float roll; diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp index fc025ec5bb..0454dfd715 100644 --- a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp +++ b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp @@ -71,7 +71,7 @@ void AP_VisualOdom_MAV::handle_vision_position_estimate(uint64_t remote_time_us, // send attitude and position to EKF const float posErr = 0; // parameter required? const float angErr = 0; // parameter required? - AP::ahrs().writeExtNavData(_frontend.get_pos_offset(), pos, attitude, posErr, angErr, time_ms, get_reset_timestamp_ms(reset_counter)); + AP::ahrs().writeExtNavData(pos, attitude, posErr, angErr, time_ms, get_reset_timestamp_ms(reset_counter)); // calculate euler orientation for logging float roll;