AP_NavEKF3: include writeWheelOdom symbol even if no body-odom

like the method above it, we need this symbol or we won't compile
This commit is contained in:
Peter Barker 2023-02-09 18:11:28 +11:00 committed by Peter Barker
parent a9a40242af
commit 2af6a05fa2
1 changed files with 2 additions and 2 deletions

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@ -137,9 +137,9 @@ void NavEKF3_core::writeBodyFrameOdom(float quality, const Vector3f &delPos, con
#endif // EK3_FEATURE_BODY_ODOM
}
#if EK3_FEATURE_BODY_ODOM
void NavEKF3_core::writeWheelOdom(float delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset, float radius)
{
#if EK3_FEATURE_BODY_ODOM
// This is a simple hack to get wheel encoder data into the EKF and verify the interface sign conventions and units
// It uses the exisiting body frame velocity fusion.
// TODO implement a dedicated wheel odometry observation model
@ -162,8 +162,8 @@ void NavEKF3_core::writeWheelOdom(float delAng, float delTime, uint32_t timeStam
wheelOdmDataNew.time_ms = timeStamp_ms - (uint32_t)(500.0f * delTime);
storedWheelOdm.push(wheelOdmDataNew);
}
#endif // EK3_FEATURE_BODY_ODOM
}
// write the raw optical flow measurements
// this needs to be called externally.