AP_AHRS: getOptFlowSample returns latest correct flow data for use in calibration

libraries/AP_AHRS/AP_AHRS.cpp

@@ -2152,6 +2152,15 @@ void  AP_AHRS::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &ra
 #endif
 }
 
+// retrieve latest corrected optical flow samples (used for calibration)
+bool AP_AHRS::getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const
+{
+#if HAL_NAVEKF3_AVAILABLE
+    return EKF3.getOptFlowSample(timeStamp_ms, flowRate, bodyRate, losPred);
+#endif
+    return false;
+}
+
 // write body frame odometry measurements to the EKF
 void  AP_AHRS::writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset)
 {

libraries/AP_AHRS/AP_AHRS.h

@@ -240,6 +240,9 @@ public:
     // write optical flow measurements to EKF
     void writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset);
 
+    // retrieve latest corrected optical flow samples (used for calibration)
+    bool getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const;
+
     // write body odometry measurements to the EKF
     void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset);