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21 lines
745 B
21 lines
745 B
#pragma once |
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#include "AP_VisualOdom_Backend.h" |
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#if HAL_VISUALODOM_ENABLED |
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class AP_VisualOdom_MAV : public AP_VisualOdom_Backend |
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{ |
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public: |
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// constructor |
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using AP_VisualOdom_Backend::AP_VisualOdom_Backend; |
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// consume vision position estimate data and send to EKF. distances in meters |
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void 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) override; |
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// consume vision velocity estimate data and send to EKF, velocity in NED meters per second |
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void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) override; |
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}; |
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#endif
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