AP_VisualOdom: provide delay to ahrs:writeBodyFrameOdom

5 years ago · b71403c11a
1 changed files with 1 additions and 0 deletions
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
@ -62,6 +62,7 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
				@@ -62,6 +62,7 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
                                         angle_delta,
                                         time_delta_sec,
                                         now_ms,
+                                         _frontend.get_delay_ms(),
                                         _frontend.get_pos_offset());

    // log sensor data