AP_NavEKF3: fixed use of pointers in ringbuffers

these don't work with AP_DAL

libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp

@@ -127,7 +127,7 @@ void NavEKF3_core::writeBodyFrameOdom(float quality, const Vector3f &delPos, con
     // subtract delay from timestamp
     timeStamp_ms -= delay_ms;
 
-    bodyOdmDataNew.body_offset = &posOffset;
+    bodyOdmDataNew.body_offset = posOffset;
     bodyOdmDataNew.vel = delPos * (1.0f/delTime);
     bodyOdmDataNew.time_ms = timeStamp_ms;
     bodyOdmDataNew.angRate = delAng * (1.0f/delTime);
@@ -155,7 +155,7 @@ void NavEKF3_core::writeWheelOdom(float delAng, float delTime, uint32_t timeStam
     }
 
     wheel_odm_elements wheelOdmDataNew = {};
-    wheelOdmDataNew.hub_offset = &posOffset;
+    wheelOdmDataNew.hub_offset = posOffset;
     wheelOdmDataNew.delAng = delAng;
     wheelOdmDataNew.radius = radius;
     wheelOdmDataNew.delTime = delTime;
@@ -218,7 +218,7 @@ void NavEKF3_core::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f
         // note correction for different axis and sign conventions used by the px4flow sensor
         ofDataNew.flowRadXY = - rawFlowRates; // raw (non motion compensated) optical flow angular rate about the X axis (rad/sec)
         // write the flow sensor position in body frame
-        ofDataNew.body_offset = &posOffset;
+        ofDataNew.body_offset = posOffset;
         // write flow rate measurements corrected for body rates
         ofDataNew.flowRadXYcomp.x = ofDataNew.flowRadXY.x + ofDataNew.bodyRadXYZ.x;
         ofDataNew.flowRadXYcomp.y = ofDataNew.flowRadXY.y + ofDataNew.bodyRadXYZ.y;

libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp

@@ -309,7 +309,7 @@ void NavEKF3_core::FuseOptFlow()
         // correct range for flow sensor offset body frame position offset
         // the corrected value is the predicted range from the sensor focal point to the
         // centre of the image on the ground assuming flat terrain
-        Vector3f posOffsetBody = (*ofDataDelayed.body_offset) - accelPosOffset;
+        Vector3f posOffsetBody = ofDataDelayed.body_offset - accelPosOffset;
         if (!posOffsetBody.is_zero()) {
             Vector3f posOffsetEarth = prevTnb.mul_transpose(posOffsetBody);
             range -= posOffsetEarth.z / prevTnb.c.z;

libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp

@@ -1145,7 +1145,7 @@ void NavEKF3_core::FuseBodyVel()
         bodyVelPred = (prevTnb * stateStruct.velocity);
 
         // correct sensor offset body frame position offset relative to IMU
-        Vector3f posOffsetBody = (*bodyOdmDataDelayed.body_offset) - accelPosOffset;
+        Vector3f posOffsetBody = bodyOdmDataDelayed.body_offset - accelPosOffset;
 
         // correct prediction for relative motion due to rotation
         // note - % operator overloaded for cross product

libraries/AP_NavEKF3/AP_NavEKF3_core.h

@@ -593,13 +593,13 @@ private:
         Vector2f    flowRadXYcomp;  // motion compensated XY optical flow angular rates about the XY body axes (rad/sec)
         uint32_t    time_ms;        // measurement timestamp (msec)
         Vector3f    bodyRadXYZ;     // body frame XYZ axis angular rates averaged across the optical flow measurement interval (rad/sec)
-        const Vector3f *body_offset;// pointer to XYZ position of the optical flow sensor in body frame (m)
+        Vector3f    body_offset;    // XYZ position of the optical flow sensor in body frame (m)
     };
 
     struct vel_odm_elements {
         Vector3f        vel;        // XYZ velocity measured in body frame (m/s)
         float           velErr;     // velocity measurement error 1-std (m/s)
-        const Vector3f *body_offset;// pointer to XYZ position of the velocity sensor in body frame (m)
+        Vector3f        body_offset;// XYZ position of the velocity sensor in body frame (m)
         Vector3f        angRate;    // angular rate estimated from odometry (rad/sec)
         uint32_t        time_ms;    // measurement timestamp (msec)
     };
@@ -607,7 +607,7 @@ private:
     struct wheel_odm_elements {
         float           delAng;     // wheel rotation angle measured in body frame - positive is forward movement of vehicle (rad/s)
         float           radius;     // wheel radius (m)
-        const Vector3f *hub_offset; // pointer to XYZ position of the wheel hub in body frame (m)
+        Vector3f        hub_offset; // XYZ position of the wheel hub in body frame (m)
         float           delTime;    // time interval that the measurement was accumulated over (sec)
         uint32_t        time_ms;    // measurement timestamp (msec)
     };