You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
87 lines
3.1 KiB
87 lines
3.1 KiB
/* |
|
This program is free software: you can redistribute it and/or modify |
|
it under the terms of the GNU General Public License as published by |
|
the Free Software Foundation, either version 3 of the License, or |
|
(at your option) any later version. |
|
|
|
This program is distributed in the hope that it will be useful, |
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
GNU General Public License for more details. |
|
|
|
You should have received a copy of the GNU General Public License |
|
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
|
|
#include "AP_VisualOdom_Backend.h" |
|
|
|
#if HAL_VISUALODOM_ENABLED |
|
|
|
#include <AP_Logger/AP_Logger.h> |
|
#include <GCS_MAVLink/GCS.h> |
|
|
|
extern const AP_HAL::HAL &hal; |
|
|
|
/* |
|
base class constructor. |
|
This incorporates initialisation as well. |
|
*/ |
|
AP_VisualOdom_Backend::AP_VisualOdom_Backend(AP_VisualOdom &frontend) : |
|
_frontend(frontend) |
|
{ |
|
} |
|
|
|
// return true if sensor is basically healthy (we are receiving data) |
|
bool AP_VisualOdom_Backend::healthy() const |
|
{ |
|
// healthy if we have received sensor messages within the past 300ms |
|
return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS); |
|
} |
|
|
|
// consume vision_position_delta mavlink messages |
|
void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_message_t &msg) |
|
{ |
|
// decode message |
|
mavlink_vision_position_delta_t packet; |
|
mavlink_msg_vision_position_delta_decode(&msg, &packet); |
|
|
|
// apply rotation to angle and position delta |
|
const enum Rotation rot = _frontend.get_orientation(); |
|
Vector3f angle_delta = Vector3f(packet.angle_delta[0], packet.angle_delta[1], packet.angle_delta[2]); |
|
angle_delta.rotate(rot); |
|
Vector3f position_delta = Vector3f(packet.position_delta[0], packet.position_delta[1], packet.position_delta[2]); |
|
position_delta.rotate(rot); |
|
|
|
const uint32_t now_ms = AP_HAL::millis(); |
|
_last_update_ms = now_ms; |
|
|
|
// send to EKF |
|
const float time_delta_sec = packet.time_delta_usec / 1000000.0f; |
|
AP::ahrs().writeBodyFrameOdom(packet.confidence, |
|
position_delta, |
|
angle_delta, |
|
time_delta_sec, |
|
now_ms, |
|
_frontend.get_delay_ms(), |
|
_frontend.get_pos_offset()); |
|
|
|
// log sensor data |
|
Write_VisualOdom(time_delta_sec, |
|
angle_delta, |
|
position_delta, |
|
packet.confidence); |
|
} |
|
|
|
// returns the system time of the last reset if reset_counter has not changed |
|
// updates the reset timestamp to the current system time if the reset_counter has changed |
|
uint32_t AP_VisualOdom_Backend::get_reset_timestamp_ms(uint8_t reset_counter) |
|
{ |
|
// update reset counter and timestamp if reset_counter has changed |
|
if (reset_counter != _last_reset_counter) { |
|
_last_reset_counter = reset_counter; |
|
_reset_timestamp_ms = AP_HAL::millis(); |
|
} |
|
return _reset_timestamp_ms; |
|
} |
|
|
|
#endif
|
|
|