mirror of https://github.com/ArduPilot/ardupilot
Replay: support wheel odomotry
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@ -242,6 +242,11 @@ void LR_MsgHandler_ROFH::process_message(uint8_t *msg)
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AP::dal().handle_message(MSG_CAST(ROFH,msg), ekf2, ekf3);
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AP::dal().handle_message(MSG_CAST(ROFH,msg), ekf2, ekf3);
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}
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}
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void LR_MsgHandler_RWOH::process_message(uint8_t *msg)
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{
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AP::dal().handle_message(MSG_CAST(RWOH,msg), ekf2, ekf3);
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}
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void LR_MsgHandler_REPH::process_message(uint8_t *msg)
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void LR_MsgHandler_REPH::process_message(uint8_t *msg)
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{
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{
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AP::dal().handle_message(MSG_CAST(REPH,msg), ekf2, ekf3);
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AP::dal().handle_message(MSG_CAST(REPH,msg), ekf2, ekf3);
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@ -100,6 +100,12 @@ class LR_MsgHandler_REVH : public LR_MsgHandler_EKF
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void process_message(uint8_t *msg) override;
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void process_message(uint8_t *msg) override;
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};
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};
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class LR_MsgHandler_RWOH : public LR_MsgHandler_EKF
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{
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using LR_MsgHandler_EKF::LR_MsgHandler_EKF;
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void process_message(uint8_t *msg) override;
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};
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class LR_MsgHandler_RFRN : public LR_MsgHandler
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class LR_MsgHandler_RFRN : public LR_MsgHandler
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{
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{
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public:
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public:
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@ -226,6 +226,8 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
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msgparser[f.type] = new LR_MsgHandler_REPH(formats[f.type], ekf2, ekf3);
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msgparser[f.type] = new LR_MsgHandler_REPH(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "REVH")) {
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} else if (streq(name, "REVH")) {
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msgparser[f.type] = new LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3);
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msgparser[f.type] = new LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3);
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} else if (streq(name, "RWOH")) {
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msgparser[f.type] = new LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3);
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} else {
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} else {
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// debug(" No parser for (%s)\n", name);
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// debug(" No parser for (%s)\n", name);
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}
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}
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