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AP_NavEKF: update flow sensor interface

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Adds a position offset which is not used by the backend
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priseborough 2016-10-12 08:20:44 +11:00 committed by Andrew Tridgell
parent 6069c37b19
commit 8160eca47e
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -727,7 +727,7 @@ bool NavEKF::use_compass(void) const
// rawGyroRates are the sensor rotation rates in rad/sec measured by the sensors internal gyro // rawGyroRates are the sensor rotation rates in rad/sec measured by the sensors internal gyro
// The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate // The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor. // msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
void NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas) void NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, Vector3f &posOffset)
{ {
if (core) { if (core) {
core->writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas); core->writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas);

2
libraries/AP_NavEKF/AP_NavEKF.h
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@ -181,7 +181,7 @@ public:
// rawGyroRates are the sensor rotation rates in rad/sec measured by the sensors internal gyro // rawGyroRates are the sensor rotation rates in rad/sec measured by the sensors internal gyro
// The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate // The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor. // msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
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);
// return data for debugging optical flow fusion // return data for debugging optical flow fusion
void getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const; void getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const;