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AP_VisualOdom: visualodom requires DCM to work

This commit is contained in:
Peter Barker 2023-09-20 17:22:07 +10:00 committed by Peter Barker
parent eb05093f34
commit 34a508bfd8
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
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@ -143,7 +143,11 @@ bool AP_VisualOdom_IntelT265::align_yaw_to_ahrs(const Vector3f &position, const
}
// do not align until ahrs yaw initialised
if (!AP::ahrs().initialised() || !AP::ahrs().dcm_yaw_initialised()) {
if (!AP::ahrs().initialised()
#if AP_AHRS_DCM_ENABLED
|| !AP::ahrs().dcm_yaw_initialised()
#endif
) {
return false;
}