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105 lines
3.1 KiB
105 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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#include "AP_VisualOdom.h" |
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#include "AP_VisualOdom_Backend.h" |
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#include "AP_VisualOdom_MAV.h" |
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extern const AP_HAL::HAL &hal; |
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// table of user settable parameters |
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const AP_Param::GroupInfo AP_VisualOdom::var_info[] = { |
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// @Param: _TYPE |
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// @DisplayName: Visual odometry camera connection type |
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// @Description: Visual odometry camera connection type |
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// @Values: 0:None,1:MAV |
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// @User: Advanced |
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AP_GROUPINFO("_TYPE", 0, AP_VisualOdom, _type, 0), |
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// @Param: _POS_X |
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// @DisplayName: Visual odometry camera X position offset |
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// @Description: X position of the camera in body frame. Positive X is forward of the origin. |
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// @Units: m |
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// @User: Advanced |
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// @Param: _POS_Y |
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// @DisplayName: Visual odometry camera Y position offset |
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// @Description: Y position of the camera in body frame. Positive Y is to the right of the origin. |
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// @Units: m |
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// @User: Advanced |
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// @Param: _POS_Z |
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// @DisplayName: Visual odometry camera Z position offset |
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// @Description: Z position of the camera in body frame. Positive Z is down from the origin. |
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// @Units: m |
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// @User: Advanced |
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AP_GROUPINFO("_POS", 1, AP_VisualOdom, _pos_offset, 0.0f), |
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// @Param: _ORIENT |
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// @DisplayName: Visual odometery camera orientation |
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// @Description: Visual odometery camera orientation |
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// @Values: 0:Forward, 2:Right, 4:Back, 6:Left, 24:Up, 25:Down |
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// @User: Advanced |
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AP_GROUPINFO("_ORIENT", 2, AP_VisualOdom, _orientation, ROTATION_NONE), |
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AP_GROUPEND |
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}; |
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AP_VisualOdom::AP_VisualOdom() |
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{ |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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// detect and initialise any sensors |
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void AP_VisualOdom::init() |
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{ |
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// create backend |
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if (_type == AP_VisualOdom_Type_MAV) { |
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_driver = new AP_VisualOdom_MAV(*this); |
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} |
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} |
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// return true if sensor is enabled |
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bool AP_VisualOdom::enabled() const |
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{ |
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return ((_type != AP_VisualOdom_Type_None) && (_driver != nullptr)); |
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} |
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// return true if sensor is basically healthy (we are receiving data) |
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bool AP_VisualOdom::healthy() const |
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{ |
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if (!enabled()) { |
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return false; |
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} |
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// healthy if we have received sensor messages within the past 300ms |
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return ((AP_HAL::millis() - _state.last_update_ms) < AP_VISUALODOM_TIMEOUT_MS); |
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} |
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// consume VISION_POSITION_DELTA MAVLink message |
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void AP_VisualOdom::handle_msg(mavlink_message_t *msg) |
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{ |
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// exit immediately if not enabled |
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if (!enabled()) { |
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return; |
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} |
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// call backend |
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if (_driver != nullptr) { |
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_driver->handle_msg(msg); |
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} |
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} |
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