AP_AHRS: add interface for use of visual odometry data

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -1072,6 +1072,12 @@ void  AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlo
     EKF3.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
 }
 
+// write body frame odometry measurements to the EKF
+void  AP_AHRS_NavEKF::writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset)
+{
+    EKF3.writeBodyFrameOdom(quality, delPos, delAng, delTime, timeStamp_ms, posOffset);
+}
+
 // inhibit GPS usage
 uint8_t AP_AHRS_NavEKF::setInhibitGPS(void)
 {

libraries/AP_AHRS/AP_AHRS_NavEKF.h

@@ -153,6 +153,9 @@ public:
     // write optical flow measurements to EKF
     void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset);
 
+    // write body odometry measurements to the EKF
+    void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset);
+
     // inhibit GPS usage
     uint8_t setInhibitGPS(void);