From cad988965686429105bc8e19aa703f6688d2dbca Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 18 May 2020 14:22:40 +0900 Subject: [PATCH] AP_AHRS: send vision-speed-estimates to EKF3 --- libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp index 86057d4214..c18b502da1 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp @@ -1480,6 +1480,9 @@ void AP_AHRS_NavEKF::writeExtNavVelData(const Vector3f &vel, float err, uint32_t #if HAL_NAVEKF2_AVAILABLE EKF2.writeExtNavVelData(vel, err, timeStamp_ms, delay_ms); #endif +#if HAL_NAVEKF3_AVAILABLE + EKF3.writeExtNavVelData(vel, err, timeStamp_ms, delay_ms); +#endif } // inhibit GPS usage