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AP_NavEKF3: added optflow support for AP_DAL

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This commit is contained in:
Andrew Tridgell 2020-11-07 09:30:31 +11:00
parent 224792b8b8
commit 7bbbbd314c
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -172,6 +172,8 @@ void NavEKF3_core::writeWheelOdom(float delAng, float delTime, uint32_t timeStam
// this needs to be called externally. // this needs to be called externally.
void NavEKF3_core::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset) void NavEKF3_core::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset)
{ {
AP::dal().writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
// limit update rate to maximum allowed by sensor buffers // limit update rate to maximum allowed by sensor buffers
if ((imuSampleTime_ms - flowMeaTime_ms) < frontend->sensorIntervalMin_ms) { if ((imuSampleTime_ms - flowMeaTime_ms) < frontend->sensorIntervalMin_ms) {
return; return;