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AP_AHRS: writeExtNavData accepts delay

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This commit is contained in:
Randy Mackay 2020-04-13 14:03:01 +09:00
parent c28fd27b02
commit 762e82d49d
3 changed files with 5 additions and 5 deletions
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2
libraries/AP_AHRS/AP_AHRS.h
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@ -557,7 +557,7 @@ public:
virtual bool get_hgt_ctrl_limit(float &limit) const WARN_IF_UNUSED { return false; };
// Write position and quaternion data from an external navigation system
virtual void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint32_t resetTime_ms) { }
virtual void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms) { }
// return current vibration vector for primary IMU
Vector3f get_vibration(void) const;

6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -1453,13 +1453,13 @@ void AP_AHRS_NavEKF::writeBodyFrameOdom(float quality, const Vector3f &delPos,
}
// Write position and quaternion data from an external navigation system
void AP_AHRS_NavEKF::writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint32_t resetTime_ms)
void AP_AHRS_NavEKF::writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms)
{
#if HAL_NAVEKF2_AVAILABLE
EKF2.writeExtNavData(pos, quat, posErr, angErr, timeStamp_ms, resetTime_ms);
EKF2.writeExtNavData(pos, quat, posErr, angErr, timeStamp_ms, delay_ms, resetTime_ms);
#endif
#if HAL_NAVEKF3_AVAILABLE
EKF3.writeExtNavData(pos, quat, posErr, angErr, timeStamp_ms, resetTime_ms);
EKF3.writeExtNavData(pos, quat, posErr, angErr, timeStamp_ms, delay_ms, resetTime_ms);
#endif
}

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -184,7 +184,7 @@ public:
void writeDefaultAirSpeed(float airspeed);
// Write position and quaternion data from an external navigation system
void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint32_t resetTime_ms) override;
void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms) override;
// inhibit GPS usage
uint8_t setInhibitGPS(void);