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Plane: Add compensation for optical flow sensor body position offset

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priseborough 2016-10-12 08:25:22 +11:00 committed by Andrew Tridgell
parent 209e364190
commit 72db2ebd81
1 changed files with 2 additions and 1 deletions
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3
ArduPlane/ArduPlane.cpp
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@ -1016,7 +1016,8 @@ void Plane::update_optical_flow(void)
uint8_t flowQuality = optflow.quality();
Vector2f flowRate = optflow.flowRate();
Vector2f bodyRate = optflow.bodyRate();
ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update);
Vector3f posOffset = optflow.get_pos_offset();
ahrs.writeOptFlowMeas(flowQuality, flowRate, bodyRate, last_of_update, posOffset);
Log_Write_Optflow();
}
}