AP_DAL: VisualOdom request_align_yaw_to_ahrs

ArduPilot · Nov 20, 2024 · 440fb8b · 440fb8b
1 parent 8a68807
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diff --git a/libraries/AP_DAL/AP_DAL_VisualOdom.cpp b/libraries/AP_DAL/AP_DAL_VisualOdom.cpp
@@ -8,6 +8,15 @@
 #include "AP_DAL.h"
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
+// request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
+void AP_DAL_VisualOdom::request_align_yaw_to_ahrs()
+{
+#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone)
+    auto *vo = AP::visualodom();
+    vo->request_align_yaw_to_ahrs();
+#endif
+}
+
 /*
    update position offsets to align to AHRS position
    should only be called when this library is not being used as the position source

diff --git a/libraries/AP_DAL/AP_DAL_VisualOdom.h b/libraries/AP_DAL/AP_DAL_VisualOdom.h
@@ -27,6 +27,9 @@ class AP_DAL_VisualOdom {
         return RVOH.pos_offset;
     }
 
+    // request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
+    void request_align_yaw_to_ahrs();
+
     // update position offsets to align to AHRS position
     // should only be called when this library is not being used as the position source
     void align_position_to_ahrs(bool align_xy, bool align_z);