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AP_AHRS: Add support for fixed height optical flow

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Stephen Dade 2022-10-24 14:00:41 +11:00 committed by Randy Mackay
parent 6490436aca
commit 5d3e636d71
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_AHRS/AP_AHRS.cpp
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@ -2193,13 +2193,13 @@ bool AP_AHRS::get_filter_status(nav_filter_status &status) const
} }
// write optical flow data to EKF // write optical flow data to EKF
void AP_AHRS::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset) void AP_AHRS::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset, float heightOverride)
{ {
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
EKF2.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset); EKF2.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset, heightOverride);
#endif #endif
#if HAL_NAVEKF3_AVAILABLE #if HAL_NAVEKF3_AVAILABLE
EKF3.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset); EKF3.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset, heightOverride);
#endif #endif
} }

2
libraries/AP_AHRS/AP_AHRS.h
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@ -236,7 +236,7 @@ public:
bool get_vert_pos_rate(float &velocity) const; bool get_vert_pos_rate(float &velocity) const;
// write optical flow measurements to EKF // write optical flow measurements to EKF
void writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset); void writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset, const float heightOverride);
// retrieve latest corrected optical flow samples (used for calibration) // retrieve latest corrected optical flow samples (used for calibration)
bool getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const; bool getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const;