ardupilot/libraries/AP_VisualOdom/AP_VisualOdom.cpp

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/*
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.h"
#include "AP_VisualOdom_Backend.h"
#include "AP_VisualOdom_MAV.h"
#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Logger/AP_Logger.h>
extern const AP_HAL::HAL &hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_VisualOdom::var_info[] = {
// @Param: _TYPE
// @DisplayName: Visual odometry camera connection type
// @Description: Visual odometry camera connection type
// @Values: 0:None,1:MAV
// @User: Advanced
AP_GROUPINFO("_TYPE", 0, AP_VisualOdom, _type, 0),
// @Param: _POS_X
// @DisplayName: Visual odometry camera X position offset
// @Description: X position of the camera in body frame. Positive X is forward of the origin.
// @Units: m
// @User: Advanced
// @Param: _POS_Y
// @DisplayName: Visual odometry camera Y position offset
// @Description: Y position of the camera in body frame. Positive Y is to the right of the origin.
// @Units: m
// @User: Advanced
// @Param: _POS_Z
// @DisplayName: Visual odometry camera Z position offset
// @Description: Z position of the camera in body frame. Positive Z is down from the origin.
// @Units: m
// @User: Advanced
AP_GROUPINFO("_POS", 1, AP_VisualOdom, _pos_offset, 0.0f),
// @Param: _ORIENT
// @DisplayName: Visual odometery camera orientation
// @Description: Visual odometery camera orientation
// @Values: 0:Forward, 2:Right, 4:Back, 6:Left, 24:Up, 25:Down
// @User: Advanced
AP_GROUPINFO("_ORIENT", 2, AP_VisualOdom, _orientation, ROTATION_NONE),
AP_GROUPEND
};
AP_VisualOdom::AP_VisualOdom()
{
AP_Param::setup_object_defaults(this, var_info);
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_singleton != nullptr) {
AP_HAL::panic("VisualOdom must be singleton");
}
#endif
_singleton = this;
}
// detect and initialise any sensors
void AP_VisualOdom::init()
{
// create backend
if (_type == AP_VisualOdom_Type_MAV) {
_driver = new AP_VisualOdom_MAV(*this);
}
}
// return true if sensor is enabled
bool AP_VisualOdom::enabled() const
{
return ((_type != AP_VisualOdom_Type_None) && (_driver != nullptr));
}
// update visual odometry sensor
void AP_VisualOdom::update()
{
if (!enabled()) {
return;
}
// check for updates
if (_state.last_processed_sensor_update_ms == _state.last_sensor_update_ms) {
// This reading has already been processed
return;
}
_state.last_processed_sensor_update_ms = _state.last_sensor_update_ms;
const float time_delta_sec = get_time_delta_usec() / 1000000.0f;
AP::ahrs_navekf().writeBodyFrameOdom(get_confidence(),
get_position_delta(),
get_angle_delta(),
time_delta_sec,
get_last_update_ms(),
get_pos_offset());
// log sensor data
AP::logger().Write_VisualOdom(time_delta_sec,
get_angle_delta(),
get_position_delta(),
get_confidence());
}
// return true if sensor is basically healthy (we are receiving data)
bool AP_VisualOdom::healthy() const
{
if (!enabled()) {
return false;
}
// healthy if we have received sensor messages within the past 300ms
return ((AP_HAL::millis() - _state.last_sensor_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
}
// consume VISION_POSITION_DELTA MAVLink message
void AP_VisualOdom::handle_msg(const mavlink_message_t &msg)
{
// exit immediately if not enabled
if (!enabled()) {
return;
}
// call backend
if (_driver != nullptr) {
_driver->handle_msg(msg);
}
}
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// singleton instance
AP_VisualOdom *AP_VisualOdom::_singleton;
namespace AP {
AP_VisualOdom *visualodom()
{
return AP_VisualOdom::get_singleton();
}
}