From 12b012a00ed11d21683b9d57b492d849b75f04b3 Mon Sep 17 00:00:00 2001 From: priseborough Date: Sat, 16 Aug 2014 18:41:28 +1000 Subject: [PATCH] AP_AHRS : temporary mods to test use of flow sensor internal gyro data --- libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 4 ++-- libraries/AP_AHRS/AP_AHRS_NavEKF.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp index 08adf4ad67..1bf2b27bf1 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp @@ -318,9 +318,9 @@ bool AP_AHRS_NavEKF::initialised(void) const }; // write optical flow data to EKF -void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, float &rawSonarRange, uint32_t &msecFlowMeas) +void AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, float &rawSonarRange, uint32_t &msecFlowMeas) { - EKF.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawSonarRange, msecFlowMeas); + EKF.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, rawSonarRange, msecFlowMeas); } #endif // AP_AHRS_NAVEKF_AVAILABLE diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h index f5a113730a..92bed9039b 100644 --- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h +++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h @@ -102,7 +102,7 @@ public: bool get_relative_position_NED(Vector3f &vec) const; // write optical flow measurements to EKF - void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, float &rawSonarRange, uint32_t &msecFlowMeas); + void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, float &rawSonarRange, uint32_t &msecFlowMeas); void set_ekf_use(bool setting) { _ekf_use.set(setting); }