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AP_AHRS_NavEKF: Push gyro bias for optical flow

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Push gyro bias for optical flow usage only if there is an optical
flow declared in the HAL
This commit is contained in:
Julien Beraud 2017-01-17 17:50:38 +01:00 committed by Andrew Tridgell
parent 3d9dacb227
commit d2afa1cac8
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -90,6 +90,12 @@ void AP_AHRS_NavEKF::update(void)
// call AHRS_update hook if any // call AHRS_update hook if any
AP_Module::call_hook_AHRS_update(*this); AP_Module::call_hook_AHRS_update(*this);
// push gyros if optical flow present
if (hal.opticalflow) {
Vector3f exported_gyro_bias = get_gyro_drift();
hal.opticalflow->push_gyro_bias(exported_gyro_bias.x, exported_gyro_bias.y);
}
} }
void AP_AHRS_NavEKF::update_DCM(void) void AP_AHRS_NavEKF::update_DCM(void)