mirror of https://github.com/ArduPilot/ardupilot
Plane: send HAGL in OPTICAL_FLOW
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@ -494,6 +494,12 @@ static void NOINLINE send_opticalflow(mavlink_channel_t chan)
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// get rates from sensor
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// get rates from sensor
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const Vector2f &flowRate = optflow.flowRate();
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const Vector2f &flowRate = optflow.flowRate();
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const Vector2f &bodyRate = optflow.bodyRate();
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const Vector2f &bodyRate = optflow.bodyRate();
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float hagl = 0;
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#if AP_AHRS_NAVEKF_AVAILABLE
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if (ahrs.have_inertial_nav()) {
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ahrs.get_NavEKF().getHAGL(hagl);
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}
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#endif
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// populate and send message
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// populate and send message
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mavlink_msg_optical_flow_send(
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mavlink_msg_optical_flow_send(
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@ -505,7 +511,7 @@ static void NOINLINE send_opticalflow(mavlink_channel_t chan)
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bodyRate.x,
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bodyRate.x,
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bodyRate.y,
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bodyRate.y,
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optflow.quality(),
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optflow.quality(),
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0); // ground distance (in meters) set to zero
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hagl); // ground distance (in meters) set to zero
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}
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}
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#endif // OPTFLOW == ENABLED
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#endif // OPTFLOW == ENABLED
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