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101 lines
3.2 KiB
101 lines
3.2 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_HAL/AP_HAL.h> |
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#include <AP_Vehicle/AP_Vehicle_Type.h> |
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#ifndef HAL_VISUALODOM_ENABLED |
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#define HAL_VISUALODOM_ENABLED !HAL_MINIMIZE_FEATURES |
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#endif |
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#if HAL_VISUALODOM_ENABLED |
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#include <AP_Common/AP_Common.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Param/AP_Param.h> |
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#include <GCS_MAVLink/GCS.h> |
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class AP_VisualOdom_Backend; |
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#define AP_VISUALODOM_TIMEOUT_MS 300 |
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class AP_VisualOdom |
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{ |
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public: |
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AP_VisualOdom(); |
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// get singleton instance |
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static AP_VisualOdom *get_singleton() { |
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return _singleton; |
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} |
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// external position backend types (used by _TYPE parameter) |
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enum AP_VisualOdom_Type { |
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AP_VisualOdom_Type_None = 0, |
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AP_VisualOdom_Type_MAV = 1, |
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AP_VisualOdom_Type_IntelT265 = 2 |
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}; |
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// detect and initialise any sensors |
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void init(); |
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// return true if sensor is enabled |
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bool enabled() const; |
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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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// get user defined orientation |
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enum Rotation get_orientation() const { return (enum Rotation)_orientation.get(); } |
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// return a 3D vector defining the position offset of the camera in meters relative to the body frame origin |
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const Vector3f &get_pos_offset(void) const { return _pos_offset; } |
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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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// general purpose methods 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 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); |
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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); |
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// calibrate camera attitude to align with vehicle's AHRS/EKF attitude |
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void align_sensor_to_vehicle(); |
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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 pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const; |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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static AP_VisualOdom *_singleton; |
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// parameters |
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AP_Int8 _type; |
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AP_Vector3f _pos_offset; // position offset of the camera in the body frame |
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AP_Int8 _orientation; // camera orientation on vehicle frame |
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// reference to backends |
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AP_VisualOdom_Backend *_driver; |
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}; |
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namespace AP { |
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AP_VisualOdom *visualodom(); |
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}; |
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#endif // HAL_VISUALODOM_ENABLED
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