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AP_NavEKF2: Fix bug preventing use of optical flow with multiple IMU's

This commit is contained in:
Paul Riseborough 2015-11-10 18:17:16 +11:00
parent 01766e7069
commit ca31ced2b4
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -823,7 +823,9 @@ bool NavEKF2::use_compass(void) const
void NavEKF2::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas) void NavEKF2::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas)
{ {
if (core) { if (core) {
core[primary].writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas); for (uint8_t i=0; i<num_cores; i++) {
core[i].writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas);
}
} }
} }