Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 14:08:45 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: make optflow available via AHRS

Browse Source 
same pattern as compass and airspeed sensor
This commit is contained in:
Andrew Tridgell 2015-01-03 11:08:50 +11:00
parent 51cd64b3b2
commit 70c2aeca42
1 changed files with 13 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_AHRS/AP_AHRS.h
View File

@ -26,6 +26,7 @@
#include <inttypes.h>
#include <AP_Compass.h>
#include <AP_Airspeed.h>
#include <AP_OpticalFlow.h>
#include <AP_GPS.h>
#include <AP_InertialSensor.h>
#include <AP_Baro.h>
@ -63,6 +64,7 @@ public:
yaw_sensor(0),
_vehicle_class(AHRS_VEHICLE_UNKNOWN),
_compass(NULL),
_optflow(NULL),
_airspeed(NULL),
_compass_last_update(0),
_ins(ins),
@ -136,6 +138,14 @@ public:
const Compass* get_compass() const {
return _compass;
}
void set_optflow(const OpticalFlow *optflow) {
_optflow = optflow;
}
const OpticalFlow* get_optflow() const {
return _optflow;
}
// allow for runtime change of orientation
// this makes initial config easier
@ -393,6 +403,9 @@ protected:
// pointer to compass object, if available
Compass * _compass;
// pointer to OpticalFlow object, if available
const OpticalFlow *_optflow;
// pointer to airspeed object, if available
AP_Airspeed * _airspeed;