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67 lines
2.5 KiB
67 lines
2.5 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_MAV.h" |
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#if HAL_VISUALODOM_ENABLED |
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#include <AP_HAL/AP_HAL.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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// constructor |
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AP_VisualOdom_MAV::AP_VisualOdom_MAV(AP_VisualOdom &frontend) : |
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AP_VisualOdom_Backend(frontend) |
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{ |
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} |
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// consume vision position estimate data and send to EKF. distances in meters |
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void AP_VisualOdom_MAV::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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const float scale_factor = _frontend.get_pos_scale(); |
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Vector3f pos{x * scale_factor, y * scale_factor, z * scale_factor}; |
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posErr = constrain_float(posErr, _frontend.get_pos_noise(), 100.0f); |
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angErr = constrain_float(angErr, _frontend.get_yaw_noise(), 1.5f); |
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// send attitude and position to EKF |
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AP::ahrs().writeExtNavData(pos, attitude, posErr, angErr, time_ms, _frontend.get_delay_ms(), get_reset_timestamp_ms(reset_counter)); |
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// calculate euler orientation for logging |
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float roll; |
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float pitch; |
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float yaw; |
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attitude.to_euler(roll, pitch, yaw); |
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// log sensor data |
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Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), degrees(yaw), posErr, angErr, reset_counter, false); |
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// record time for health monitoring |
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_last_update_ms = AP_HAL::millis(); |
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} |
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void AP_VisualOdom_MAV::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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// send velocity to EKF |
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AP::ahrs().writeExtNavVelData(vel, _frontend.get_vel_noise(), time_ms, _frontend.get_delay_ms()); |
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// record time for health monitoring |
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_last_update_ms = AP_HAL::millis(); |
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Write_VisualVelocity(remote_time_us, time_ms, vel, reset_counter, false); |
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} |
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#endif
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