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AP_VisualOdom: remove sensor position from call to ahrs writeExtNavData

This commit is contained in:
Randy Mackay 2020-04-13 12:26:57 +09:00 committed by Andrew Tridgell
parent 79afc70cdb
commit 2164293cc0
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
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@ -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;

2
libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
View File

@ -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;