Copter: visual odometry moved to AP_Vehicle

ArduCopter/APM_Config.h

@@ -18,7 +18,6 @@
 //#define PARACHUTE             DISABLED            // disable parachute release to save 1k of flash
 //#define NAV_GUIDED            DISABLED            // disable external navigation computer ability to control vehicle through MAV_CMD_NAV_GUIDED mission commands
 //#define OPTFLOW               DISABLED            // disable optical flow sensor to save 5K of flash space
-//#define VISUAL_ODOMETRY_ENABLED DISABLED          // disable visual odometry to save 2K of flash space
 //#define FRSKY_TELEM_ENABLED   DISABLED            // disable FRSky telemetry
 //#define ADSB_ENABLED          DISABLED            // disable ADSB support
 //#define PRECISION_LANDING     DISABLED            // disable precision landing using companion computer or IRLock sensor

ArduCopter/Copter.h

@@ -129,9 +129,6 @@
 #if OPTFLOW == ENABLED
  # include <AP_OpticalFlow/AP_OpticalFlow.h>
 #endif
-#if VISUAL_ODOMETRY_ENABLED == ENABLED
- # include <AP_VisualOdom/AP_VisualOdom.h>
-#endif
 #if RANGEFINDER_ENABLED == ENABLED
  # include <AP_RangeFinder/AP_RangeFinder.h>
 #endif
@@ -847,7 +844,6 @@ private:
     void accel_cal_update(void);
     void init_proximity();
     void update_proximity();
-    void init_visual_odom();
     void winch_init();
     void winch_update();
 

ArduCopter/GCS_Copter.cpp

@@ -51,13 +51,6 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
     }
-#endif
-#if VISUAL_ODOMETRY_ENABLED == ENABLED
-    const AP_VisualOdom *visual_odom = AP::visualodom();
-    if (visual_odom && visual_odom->enabled()) {
-        control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
-        control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
-    }
 #endif
     const Copter::ap_t &ap = copter.ap;
 
@@ -126,11 +119,6 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
     }
 #endif
-#if VISUAL_ODOMETRY_ENABLED == ENABLED
-    if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
-        control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
-    }
-#endif
 
 #if PROXIMITY_ENABLED == ENABLED
     if (!copter.g2.proximity.sensor_failed()) {

ArduCopter/Parameters.cpp

@@ -844,11 +844,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
     AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels_Copter),
 
-#if VISUAL_ODOMETRY_ENABLED == ENABLED
-    // @Group: VISO
-    // @Path: ../libraries/AP_VisualOdom/AP_VisualOdom.cpp
-    AP_SUBGROUPINFO(visual_odom, "VISO", 18, ParametersG2, AP_VisualOdom),
-#endif
+    // 18 was used by AP_VisualOdom
 
     // @Group: TCAL
     // @Path: ../libraries/AP_TempCalibration/AP_TempCalibration.cpp

ArduCopter/Parameters.h

@@ -9,9 +9,6 @@
 #if MODE_FOLLOW_ENABLED == ENABLED
  # include <AP_Follow/AP_Follow.h>
 #endif
-#if VISUAL_ODOMETRY_ENABLED == ENABLED
- # include <AP_VisualOdom/AP_VisualOdom.h>
-#endif
 
 // Global parameter class.
 //
@@ -514,11 +511,6 @@ public:
     AP_Beacon beacon;
 #endif
 
-#if VISUAL_ODOMETRY_ENABLED == ENABLED
-    // Visual Odometry camera
-    AP_VisualOdom visual_odom;
-#endif
-
 #if PROXIMITY_ENABLED == ENABLED
     // proximity (aka object avoidance) library
     AP_Proximity proximity;

ArduCopter/config.h

@@ -207,13 +207,10 @@
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
-//  OPTICAL_FLOW & VISUAL ODOMETRY
+//  OPTICAL_FLOW
 #ifndef OPTFLOW
  # define OPTFLOW       ENABLED
 #endif
-#ifndef VISUAL_ODOMETRY_ENABLED
-# define VISUAL_ODOMETRY_ENABLED !HAL_MINIMIZE_FEATURES
-#endif
 
 //////////////////////////////////////////////////////////////////////////////
 //  Auto Tuning

ArduCopter/sensors.cpp

@@ -223,14 +223,6 @@ void Copter::init_proximity(void)
 #endif
 }
 
-// init visual odometry sensor
-void Copter::init_visual_odom()
-{
-#if VISUAL_ODOMETRY_ENABLED == ENABLED
-    g2.visual_odom.init();
-#endif
-}
-
 // winch and wheel encoder initialisation
 void Copter::winch_init()
 {

ArduCopter/system.cpp

@@ -171,9 +171,6 @@ void Copter::init_ardupilot()
     g2.beacon.init();
 #endif
 
-    // init visual odometry
-    init_visual_odom();
-
 #if RPM_ENABLED == ENABLED
     // initialise AP_RPM library
     rpm_sensor.init();
@@ -327,9 +324,6 @@ bool Copter::ekf_position_ok() const
 // optflow_position_ok - returns true if optical flow based position estimate is ok
 bool Copter::optflow_position_ok() const
 {
-#if OPTFLOW != ENABLED && VISUAL_ODOMETRY_ENABLED != ENABLED
-    return false;
-#else
     // return immediately if EKF not used
     if (!ahrs.have_inertial_nav()) {
         return false;
@@ -342,8 +336,8 @@ bool Copter::optflow_position_ok() const
         enabled = true;
     }
 #endif
-#if VISUAL_ODOMETRY_ENABLED == ENABLED
-    if (g2.visual_odom.enabled()) {
+#if HAL_VISUALODOM_ENABLED
+    if (visual_odom.enabled()) {
         enabled = true;
     }
 #endif
@@ -360,7 +354,6 @@ bool Copter::optflow_position_ok() const
     } else {
         return (filt_status.flags.horiz_pos_rel && !filt_status.flags.const_pos_mode);
     }
-#endif
 }
 
 // update_auto_armed - update status of auto_armed flag