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AP_AHRS : EKF optical flow fusion support preliminary changes

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priseborough 2014-08-07 10:31:24 +10:00 committed by Andrew Tridgell
parent 34249ffa42
commit 7b76fc29fb
2 changed files with 8 additions and 0 deletions
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5
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -317,5 +317,10 @@ bool AP_AHRS_NavEKF::initialised(void) const
return (ekf_started && (hal.scheduler->millis() - start_time_ms > AP_AHRS_NAVEKF_SETTLE_TIME_MS)); return (ekf_started && (hal.scheduler->millis() - start_time_ms > AP_AHRS_NAVEKF_SETTLE_TIME_MS));
}; };
// write optical flow data to EKF
void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, float &rawSonarRange, uint32_t &msecFlowMeas)
{
EKF.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawSonarRange, msecFlowMeas);
}
#endif // AP_AHRS_NAVEKF_AVAILABLE #endif // AP_AHRS_NAVEKF_AVAILABLE

3
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -101,6 +101,9 @@ public:
bool get_velocity_NED(Vector3f &vec) const; bool get_velocity_NED(Vector3f &vec) const;
bool get_relative_position_NED(Vector3f &vec) const; bool get_relative_position_NED(Vector3f &vec) const;
// write optical flow measurements to EKF
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, float &rawSonarRange, uint32_t &msecFlowMeas);
void set_ekf_use(bool setting) { _ekf_use.set(setting); } void set_ekf_use(bool setting) { _ekf_use.set(setting); }
// is the AHRS subsystem healthy? // is the AHRS subsystem healthy?