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AP_AHRS: add interface for use of visual odometry data

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priseborough 2017-03-22 08:13:54 +11:00 committed by Randy Mackay
parent fb7104f4e3
commit 3b82f60b08
2 changed files with 9 additions and 0 deletions
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6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1072,6 +1072,12 @@ void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlo
EKF3.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
}
// write body frame odometry measurements to the EKF
void AP_AHRS_NavEKF::writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset)
{
EKF3.writeBodyFrameOdom(quality, delPos, delAng, delTime, timeStamp_ms, posOffset);
}
// inhibit GPS usage
uint8_t AP_AHRS_NavEKF::setInhibitGPS(void)
{

3
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -153,6 +153,9 @@ public:
// write optical flow measurements to EKF
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset);
// write body odometry measurements to the EKF
void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset);
// inhibit GPS usage
uint8_t setInhibitGPS(void);