AP_AHRS: send vision-speed-estimates to EKF3

5 years ago · cad9889656
1 changed files with 3 additions and 0 deletions
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@ -1480,6 +1480,9 @@ void AP_AHRS_NavEKF::writeExtNavVelData(const Vector3f &vel, float err, uint32_t
				@@ -1480,6 +1480,9 @@ void AP_AHRS_NavEKF::writeExtNavVelData(const Vector3f &vel, float err, uint32_t
 #if HAL_NAVEKF2_AVAILABLE
    EKF2.writeExtNavVelData(vel, err, timeStamp_ms, delay_ms);
 #endif
+#if HAL_NAVEKF3_AVAILABLE
+    EKF3.writeExtNavVelData(vel, err, timeStamp_ms, delay_ms);
+#endif
 }

 // inhibit GPS usage