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Copter: updates for EKF API changes

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This commit is contained in:
Andrew Tridgell 2016-10-27 15:47:50 +11:00
parent b65c559558
commit e8b9c815fc
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/sensors.cpp
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@ -138,7 +138,7 @@ void Copter::update_optical_flow(void)
uint8_t flowQuality = optflow.quality(); uint8_t flowQuality = optflow.quality();
Vector2f flowRate = optflow.flowRate(); Vector2f flowRate = optflow.flowRate();
Vector2f bodyRate = optflow.bodyRate(); Vector2f bodyRate = optflow.bodyRate();
Vector3f posOffset = optflow.get_pos_offset(); const Vector3f &posOffset = optflow.get_pos_offset();
ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update, posOffset); ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update, posOffset);
if (g.log_bitmask & MASK_LOG_OPTFLOW) { if (g.log_bitmask & MASK_LOG_OPTFLOW) {
Log_Write_Optflow(); Log_Write_Optflow();