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AP_NavEKF3: use DAL for body frame odometry

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This commit is contained in:
Andrew Tridgell 2020-11-07 16:59:23 +11:00
parent 8591b31665
commit 21dfdc2192
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -658,7 +658,6 @@ NavEKF3::NavEKF3()
AP_Param::setup_object_defaults(this, var_info);
}
#include <stdio.h>
// Initialise the filter
bool NavEKF3::InitialiseFilter(void)
@ -1519,7 +1518,7 @@ void NavEKF3::getFlowDebug(int8_t instance, float &varFlow, float &gndOffset, fl
*/
void NavEKF3::writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset)
{
// AP::dal().log_WriteBodyFrameOdom(....);
AP::dal().writeBodyFrameOdom(quality, delPos, delAng, delTime, timeStamp_ms, delay_ms, posOffset);
if (core) {
for (uint8_t i=0; i<num_cores; i++) {