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72 lines
3.1 KiB
72 lines
3.1 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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#pragma once |
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#include "AP_VisualOdom.h" |
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#if HAL_VISUALODOM_ENABLED |
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class AP_VisualOdom_Backend |
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{ |
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public: |
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// constructor. This incorporates initialisation as well. |
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AP_VisualOdom_Backend(AP_VisualOdom &frontend); |
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// return true if sensor is basically healthy (we are receiving data) |
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bool healthy() const; |
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// consume vision_position_delta mavlink messages |
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void handle_vision_position_delta_msg(const mavlink_message_t &msg); |
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// consume vision position estimate data and send to EKF. distances in meters |
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virtual 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) = 0; |
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// consume vision velocity estimate data and send to EKF, velocity in NED meters per second |
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virtual void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) = 0; |
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// handle request to align camera's attitude with vehicle's AHRS/EKF attitude |
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virtual void align_sensor_to_vehicle() {} |
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// handle request to align position with AHRS |
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virtual void align_position_to_ahrs(bool align_xy, bool align_z) {} |
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// arming check - by default no checks performed |
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virtual bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const { return true; } |
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protected: |
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// returns the system time of the last reset if reset_counter has not changed |
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// updates the reset timestamp to the current system time if the reset_counter has changed |
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uint32_t get_reset_timestamp_ms(uint8_t reset_counter); |
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AP_VisualOdom::VisualOdom_Type get_type(void) const { |
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return _frontend.get_type(); |
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} |
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// Logging Functions |
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void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence); |
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void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored); |
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void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored); |
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AP_VisualOdom &_frontend; // reference to frontend |
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uint32_t _last_update_ms; // system time of last update from sensor (used by health checks) |
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// reset counter handling |
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uint8_t _last_reset_counter; // last sensor reset counter received |
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uint32_t _reset_timestamp_ms; // time reset counter was received |
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}; |
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#endif |
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