From 6069c37b19b95593ce3672fb257bcd200fcfe678 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 12 Oct 2016 08:16:10 +1100
Subject: [PATCH] AP_AHRS: add position offset to optical flow interface

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 6 +++---
 libraries/AP_AHRS/AP_AHRS_NavEKF.h   | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 833f0ef26f..341880e595 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -1038,10 +1038,10 @@ bool AP_AHRS_NavEKF::get_filter_status(nav_filter_status &status) const
 }
 
 // write optical flow data to EKF
-void  AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas)
+void  AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, Vector3f &posOffset)
 {
-    EKF1.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas);
-    EKF2.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas);
+    EKF1.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
+    EKF2.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
 }
 
 // inhibit GPS usage
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index eada0fb010..926231129e 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -155,7 +155,7 @@ public:
     bool get_vert_pos_rate(float &velocity);
 
     // write optical flow measurements to EKF
-    void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas);
+    void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, Vector3f &posOffset);
 
     // inibit GPS usage
     uint8_t setInhibitGPS(void);