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AP_AHRS : Add range finder health status to EKF optical flow data

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priseborough 2014-09-10 19:28:02 +10:00 committed by Andrew Tridgell
parent 27f9289391
commit a4984a1e76
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -318,9 +318,9 @@ bool AP_AHRS_NavEKF::initialised(void) const
}; };
// write optical flow data to EKF // write optical flow data to EKF
void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, float &rawSonarRange, uint32_t &msecFlowMeas) void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange)
{ {
EKF.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, rawSonarRange, msecFlowMeas); EKF.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, rangeHealth, rawSonarRange);
} }
#endif // AP_AHRS_NAVEKF_AVAILABLE #endif // AP_AHRS_NAVEKF_AVAILABLE

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -102,7 +102,7 @@ public:
bool get_relative_position_NED(Vector3f &vec) const; bool get_relative_position_NED(Vector3f &vec) const;
// write optical flow measurements to EKF // write optical flow measurements to EKF
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, float &rawSonarRange, uint32_t &msecFlowMeas); void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange);
void set_ekf_use(bool setting) { _ekf_use.set(setting); } void set_ekf_use(bool setting) { _ekf_use.set(setting); }