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285 lines
8.7 KiB
285 lines
8.7 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "AP_VisualOdom.h" |
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#if HAL_VISUALODOM_ENABLED |
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#include "AP_VisualOdom_Backend.h" |
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#include "AP_VisualOdom_MAV.h" |
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#include "AP_VisualOdom_IntelT265.h" |
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#include <AP_AHRS/AP_AHRS.h> |
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#include <AP_Logger/AP_Logger.h> |
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extern const AP_HAL::HAL &hal; |
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// table of user settable parameters |
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const AP_Param::GroupInfo AP_VisualOdom::var_info[] = { |
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// @Param: _TYPE |
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// @DisplayName: Visual odometry camera connection type |
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// @Description: Visual odometry camera connection type |
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// @Values: 0:None,1:MAVLink,2:IntelT265,3:VOXL(ModalAI) |
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// @User: Advanced |
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// @RebootRequired: True |
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AP_GROUPINFO_FLAGS("_TYPE", 0, AP_VisualOdom, _type, 0, AP_PARAM_FLAG_ENABLE), |
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// @Param: _POS_X |
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// @DisplayName: Visual odometry camera X position offset |
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// @Description: X position of the camera in body frame. Positive X is forward of the origin. |
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// @Units: m |
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// @Range: -5 5 |
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// @Increment: 0.01 |
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// @User: Advanced |
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// @Param: _POS_Y |
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// @DisplayName: Visual odometry camera Y position offset |
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// @Description: Y position of the camera in body frame. Positive Y is to the right of the origin. |
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// @Units: m |
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// @Range: -5 5 |
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// @Increment: 0.01 |
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// @User: Advanced |
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// @Param: _POS_Z |
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// @DisplayName: Visual odometry camera Z position offset |
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// @Description: Z position of the camera in body frame. Positive Z is down from the origin. |
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// @Units: m |
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// @Range: -5 5 |
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// @Increment: 0.01 |
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// @User: Advanced |
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AP_GROUPINFO("_POS", 1, AP_VisualOdom, _pos_offset, 0.0f), |
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// @Param: _ORIENT |
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// @DisplayName: Visual odometery camera orientation |
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// @Description: Visual odometery camera orientation |
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// @Values: 0:Forward, 2:Right, 4:Back, 6:Left, 24:Up, 25:Down |
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// @User: Advanced |
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AP_GROUPINFO("_ORIENT", 2, AP_VisualOdom, _orientation, ROTATION_NONE), |
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// @Param: _SCALE |
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// @DisplayName: Visual odometry scaling factor |
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// @Description: Visual odometry scaling factor applied to position estimates from sensor |
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// @User: Advanced |
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AP_GROUPINFO("_SCALE", 3, AP_VisualOdom, _pos_scale, 1.0f), |
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// @Param: _DELAY_MS |
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// @DisplayName: Visual odometry sensor delay |
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// @Description: Visual odometry sensor delay relative to inertial measurements |
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// @Units: ms |
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// @Range: 0 250 |
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// @User: Advanced |
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AP_GROUPINFO("_DELAY_MS", 4, AP_VisualOdom, _delay_ms, 10), |
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// @Param: _VEL_M_NSE |
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// @DisplayName: Visual odometry velocity measurement noise |
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// @Description: Visual odometry velocity measurement noise in m/s |
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// @Units: m/s |
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// @Range: 0.05 5.0 |
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// @User: Advanced |
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AP_GROUPINFO("_VEL_M_NSE", 5, AP_VisualOdom, _vel_noise, 0.1), |
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// @Param: _POS_M_NSE |
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// @DisplayName: Visual odometry position measurement noise |
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// @Description: Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value) |
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// @Units: m |
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// @Range: 0.1 10.0 |
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// @User: Advanced |
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AP_GROUPINFO("_POS_M_NSE", 6, AP_VisualOdom, _pos_noise, 0.2f), |
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// @Param: _YAW_M_NSE |
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// @DisplayName: Visual odometry yaw measurement noise |
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// @Description: Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value) |
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// @Units: rad |
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// @Range: 0.05 1.0 |
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// @User: Advanced |
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AP_GROUPINFO("_YAW_M_NSE", 7, AP_VisualOdom, _yaw_noise, 0.2f), |
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AP_GROUPEND |
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}; |
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AP_VisualOdom::AP_VisualOdom() |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL |
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if (_singleton != nullptr) { |
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AP_HAL::panic("must be singleton"); |
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} |
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#endif |
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_singleton = this; |
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} |
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// detect and initialise any sensors |
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void AP_VisualOdom::init() |
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{ |
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// create backend |
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switch (VisualOdom_Type(_type.get())) { |
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case VisualOdom_Type::None: |
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// do nothing |
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break; |
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case VisualOdom_Type::MAV: |
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_driver = new AP_VisualOdom_MAV(*this); |
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break; |
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case VisualOdom_Type::IntelT265: |
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case VisualOdom_Type::VOXL: |
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_driver = new AP_VisualOdom_IntelT265(*this); |
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break; |
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} |
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} |
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// return true if sensor is enabled |
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bool AP_VisualOdom::enabled() const |
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{ |
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return ((_type != VisualOdom_Type::None)); |
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} |
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// return true if sensor is basically healthy (we are receiving data) |
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bool AP_VisualOdom::healthy() const |
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{ |
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if (!enabled()) { |
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return false; |
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} |
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if (_driver == nullptr) { |
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return false; |
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} |
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return _driver->healthy(); |
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} |
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#if HAL_GCS_ENABLED |
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// consume vision_position_delta mavlink messages |
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void AP_VisualOdom::handle_vision_position_delta_msg(const mavlink_message_t &msg) |
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{ |
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// exit immediately if not enabled |
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if (!enabled()) { |
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return; |
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} |
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// call backend |
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if (_driver != nullptr) { |
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_driver->handle_vision_position_delta_msg(msg); |
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} |
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} |
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#endif |
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// general purpose method to consume position estimate data and send to EKF |
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// distances in meters, roll, pitch and yaw are in radians |
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void AP_VisualOdom::handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float posErr, float angErr, uint8_t reset_counter) |
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{ |
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// exit immediately if not enabled |
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if (!enabled()) { |
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return; |
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} |
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// call backend |
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if (_driver != nullptr) { |
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// convert attitude to quaternion and call backend |
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Quaternion attitude; |
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attitude.from_euler(roll, pitch, yaw); |
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_driver->handle_vision_position_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter); |
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} |
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} |
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// general purpose method to consume position estimate data and send to EKF |
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void AP_VisualOdom::handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter) |
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{ |
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// exit immediately if not enabled |
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if (!enabled()) { |
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return; |
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} |
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// call backend |
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if (_driver != nullptr) { |
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_driver->handle_vision_position_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter); |
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} |
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} |
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void AP_VisualOdom::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) |
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{ |
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// exit immediately if not enabled |
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if (!enabled()) { |
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return; |
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} |
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// call backend |
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if (_driver != nullptr) { |
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_driver->handle_vision_speed_estimate(remote_time_us, time_ms, vel, reset_counter); |
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} |
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} |
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// calibrate camera attitude to align with vehicle's AHRS/EKF attitude |
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void AP_VisualOdom::align_sensor_to_vehicle() |
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{ |
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// exit immediately if not enabled |
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if (!enabled()) { |
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return; |
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} |
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// call backend |
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if (_driver != nullptr) { |
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_driver->align_sensor_to_vehicle(); |
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} |
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} |
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// update position offsets to align to AHRS position. Should only be called when this library is not being used as the position source |
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void AP_VisualOdom::align_position_to_ahrs(bool align_xy, bool align_z) |
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{ |
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// exit immediately if not enabled |
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if (!enabled()) { |
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return; |
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} |
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// call backend |
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if (_driver != nullptr) { |
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_driver->align_position_to_ahrs(align_xy, align_z); |
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} |
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} |
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// returns false if we fail arming checks, in which case the buffer will be populated with a failure message |
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bool AP_VisualOdom::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const |
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{ |
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// exit immediately if not enabled |
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if (!enabled()) { |
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return true; |
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} |
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// check healthy |
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if (!healthy()) { |
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hal.util->snprintf(failure_msg, failure_msg_len, "not healthy"); |
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return false; |
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} |
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// if no backend we must have failed to create because out of memory |
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if (_driver == nullptr) { |
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hal.util->snprintf(failure_msg, failure_msg_len, "out of memory"); |
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return false; |
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} |
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// call backend specific arming check |
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return _driver->pre_arm_check(failure_msg, failure_msg_len); |
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} |
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// singleton instance |
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AP_VisualOdom *AP_VisualOdom::_singleton; |
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namespace AP { |
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AP_VisualOdom *visualodom() |
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{ |
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return AP_VisualOdom::get_singleton(); |
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} |
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} |
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#endif
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