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AP_VisualOdom: log corrected position instead of raw position

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This commit is contained in:
Randy Mackay 2020-04-11 10:52:59 +09:00 committed by Andrew Tridgell
parent 6622927a23
commit 3557104787
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
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@ -53,7 +53,7 @@ void AP_VisualOdom_IntelT265::handle_vision_position_estimate(uint64_t remote_ti
att.to_euler(roll, pitch, yaw);
// log sensor data
AP::logger().Write_VisualPosition(remote_time_us, time_ms, x, y, z, degrees(roll), degrees(pitch), wrap_360(degrees(yaw)), reset_counter);
AP::logger().Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), wrap_360(degrees(yaw)), reset_counter);
// store corrected attitude for use in pre-arm checks
_attitude_last = att;

2
libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
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@ -80,7 +80,7 @@ void AP_VisualOdom_MAV::handle_vision_position_estimate(uint64_t remote_time_us,
attitude.to_euler(roll, pitch, yaw);
// log sensor data
AP::logger().Write_VisualPosition(remote_time_us, time_ms, x, y, z, degrees(roll), degrees(pitch), degrees(yaw), reset_counter);
AP::logger().Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), degrees(yaw), reset_counter);
// record time for health monitoring
_last_update_ms = AP_HAL::millis();