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AP_AHRS: add and use pr/EK3_FEATURE_OPTFLOW_FUSION

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Peter Barker 2023-02-10 18:43:09 +11:00 committed by Peter Barker
parent 04292a280c
commit c5b9d1dcbb
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_AHRS/AP_AHRS.cpp
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@ -42,6 +42,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h> #include <SITL/SITL.h>
#endif #endif
#include <AP_NavEKF3/AP_NavEKF3_feature.h>
#define ATTITUDE_CHECK_THRESH_ROLL_PITCH_RAD radians(10) #define ATTITUDE_CHECK_THRESH_ROLL_PITCH_RAD radians(10)
#define ATTITUDE_CHECK_THRESH_YAW_RAD radians(20) #define ATTITUDE_CHECK_THRESH_YAW_RAD radians(20)
@ -2338,7 +2339,7 @@ void AP_AHRS::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &ra
#if HAL_NAVEKF2_AVAILABLE #if HAL_NAVEKF2_AVAILABLE
EKF2.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset, heightOverride); EKF2.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset, heightOverride);
#endif #endif
#if HAL_NAVEKF3_AVAILABLE #if EK3_FEATURE_OPTFLOW_FUSION
EKF3.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset, heightOverride); EKF3.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset, heightOverride);
#endif #endif
} }
@ -2346,7 +2347,7 @@ void AP_AHRS::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &ra
// retrieve latest corrected optical flow samples (used for calibration) // retrieve latest corrected optical flow samples (used for calibration)
bool AP_AHRS::getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const bool AP_AHRS::getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const
{ {
#if HAL_NAVEKF3_AVAILABLE #if EK3_FEATURE_OPTFLOW_FUSION
return EKF3.getOptFlowSample(timeStamp_ms, flowRate, bodyRate, losPred); return EKF3.getOptFlowSample(timeStamp_ms, flowRate, bodyRate, losPred);
#endif #endif
return false; return false;