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AP_AHRS: support VISION_SPEED_ESTIMATE

This commit is contained in:
chobits 2020-05-12 14:06:24 +08:00 committed by Randy Mackay
parent baa33d99a9
commit c9e363d529
3 changed files with 14 additions and 0 deletions
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3
libraries/AP_AHRS/AP_AHRS.h
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@ -559,6 +559,9 @@ public:
// Write position and quaternion data from an external navigation system
virtual void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms) { }
// Write velocity data from an external navigation system
virtual void writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeStamp_ms, uint16_t delay_ms) { }
// return current vibration vector for primary IMU
Vector3f get_vibration(void) const;

8
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1474,6 +1474,14 @@ void AP_AHRS_NavEKF::writeDefaultAirSpeed(float airspeed)
#endif
}
// Write velocity data from an external navigation system
void AP_AHRS_NavEKF::writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeStamp_ms, uint16_t delay_ms)
{
#if HAL_NAVEKF2_AVAILABLE
EKF2.writeExtNavVelData(vel, err, timeStamp_ms, delay_ms);
#endif
}
// inhibit GPS usage
uint8_t AP_AHRS_NavEKF::setInhibitGPS(void)
{

3
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -186,6 +186,9 @@ public:
// Write position and quaternion data from an external navigation system
void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms) override;
// Write velocity data from an external navigation system
void writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeStamp_ms, uint16_t delay_ms) override;
// inhibit GPS usage
uint8_t setInhibitGPS(void);