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AP_NavEKF2: added optflow support for AP_DAL

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This commit is contained in:
Andrew Tridgell 2020-11-07 09:30:31 +11:00
parent dab9d824fd
commit 224792b8b8
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -121,6 +121,8 @@ void NavEKF2_core::readRangeFinder(void)
// this needs to be called externally.
void NavEKF2_core::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset)
{
AP::dal().writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
// The raw measurements need to be optical flow rates in radians/second averaged across the time since the last update
// The PX4Flow sensor outputs flow rates with the following axis and sign conventions:
// A positive X rate is produced by a positive sensor rotation about the X axis