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AP_AHRS: use SIM_ODOM_ENABLE to enable visual odom in SITL

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This commit is contained in:
Andrew Tridgell 2017-05-01 10:09:57 +10:00
parent 67404e9660
commit 28030dd85c
1 changed files with 22 additions and 19 deletions
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3
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -300,6 +300,8 @@ void AP_AHRS_NavEKF::update_SITL(void)
_accel_ef_ekf_blended = _accel_ef_ekf[0];
}
if (_sitl->odom_enable) {
// use SITL states to write body frame odometry data at 20Hz
uint32_t timeStamp_ms = AP_HAL::millis();
if (timeStamp_ms - _last_body_odm_update_ms > 50) {
@ -321,6 +323,7 @@ void AP_AHRS_NavEKF::update_SITL(void)
EKF3.writeBodyFrameOdom(quality, delPos, delAng, delTime, timeStamp_ms, posOffset);
}
}
}
#endif // CONFIG_HAL_BOARD
// accelerometer values in the earth frame in m/s/s