From 3b82f60b08619ae82705a06543e03de9b255b451 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 22 Mar 2017 08:13:54 +1100
Subject: [PATCH] AP_AHRS: add interface for use of visual odometry data

---
 libraries/AP_AHRS/AP_AHRS_NavEKF.cpp | 6 ++++++
 libraries/AP_AHRS/AP_AHRS_NavEKF.h   | 3 +++
 2 files changed, 9 insertions(+)

diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 0858948ee6..78b3049433 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/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)
 {
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 305eb337b0..8ecd010349 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/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);