AP_AHRS: add position offset to optical flow interface

libraries/AP_AHRS/AP_AHRS_NavEKF.cpp

@@ -1038,10 +1038,10 @@ bool AP_AHRS_NavEKF::get_filter_status(nav_filter_status &status) const
 }
 
 // write optical flow data to EKF
-void  AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas)
+void  AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, Vector3f &posOffset)
 {
-    EKF1.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas);
-    EKF2.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas);
+    EKF1.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
+    EKF2.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawGyroRates, msecFlowMeas, posOffset);
 }
 
 // inhibit GPS usage

libraries/AP_AHRS/AP_AHRS_NavEKF.h

@@ -155,7 +155,7 @@ public:
     bool get_vert_pos_rate(float &velocity);
 
     // write optical flow measurements to EKF
-    void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas);
+    void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, Vector3f &posOffset);
 
     // inibit GPS usage
     uint8_t setInhibitGPS(void);