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AP_DAL: add and use pr/EK3_FEATURE_OPTFLOW_FUSION

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Peter Barker 2023-02-11 10:33:06 +11:00 committed by Peter Barker
parent 02c6784c11
commit e9baf3d15a
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_DAL/AP_DAL.cpp
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@ -7,6 +7,7 @@
#include <AP_OpticalFlow/AP_OpticalFlow.h> #include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_WheelEncoder/AP_WheelEncoder.h> #include <AP_WheelEncoder/AP_WheelEncoder.h>
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_NavEKF3/AP_NavEKF3_feature.h>
#if APM_BUILD_TYPE(APM_BUILD_Replay) #if APM_BUILD_TYPE(APM_BUILD_Replay)
#include <AP_NavEKF2/AP_NavEKF2.h> #include <AP_NavEKF2/AP_NavEKF2.h>
@ -467,7 +468,9 @@ void AP_DAL::handle_message(const log_ROFH &msg, NavEKF2 &ekf2, NavEKF3 &ekf3)
{ {
_ROFH = msg; _ROFH = msg;
ekf2.writeOptFlowMeas(msg.rawFlowQuality, msg.rawFlowRates, msg.rawGyroRates, msg.msecFlowMeas, msg.posOffset, msg.heightOverride); ekf2.writeOptFlowMeas(msg.rawFlowQuality, msg.rawFlowRates, msg.rawGyroRates, msg.msecFlowMeas, msg.posOffset, msg.heightOverride);
#if EK3_FEATURE_OPTFLOW_FUSION
ekf3.writeOptFlowMeas(msg.rawFlowQuality, msg.rawFlowRates, msg.rawGyroRates, msg.msecFlowMeas, msg.posOffset, msg.heightOverride); ekf3.writeOptFlowMeas(msg.rawFlowQuality, msg.rawFlowRates, msg.rawGyroRates, msg.msecFlowMeas, msg.posOffset, msg.heightOverride);
#endif
} }
/* /*