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AP_DAL: fixed optical flow replay

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This commit is contained in:
Andrew Tridgell 2020-11-07 10:07:03 +11:00
parent 7bbbbd314c
commit 5260d677ef
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_DAL/AP_DAL.cpp
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@ -93,6 +93,10 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
#endif #endif
} }
/*
end a frame. Must be called on all events and injections of data (eg
flow) and before starting a new frame
*/
void AP_DAL::end_frame(void) void AP_DAL::end_frame(void)
{ {
if (_RFRF.frame_types != 0) { if (_RFRF.frame_types != 0) {
@ -262,6 +266,8 @@ bool AP_DAL::ekf_low_time_remaining(EKFType etype, uint8_t core)
// log optical flow data // log optical flow data
void AP_DAL::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset) void AP_DAL::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset)
{ {
end_frame();
const log_ROFH old = _ROFH; const log_ROFH old = _ROFH;
_ROFH.rawFlowQuality = rawFlowQuality; _ROFH.rawFlowQuality = rawFlowQuality;
_ROFH.rawFlowRates = rawFlowRates; _ROFH.rawFlowRates = rawFlowRates;