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AP_AHRS: add position offset to optical flow interface

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priseborough 2016-10-12 08:16:10 +11:00 committed by Andrew Tridgell
parent 9c7ab639a1
commit 6069c37b19
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -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

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -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);