mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.4 KiB
C++
39 lines
1.4 KiB
C++
|
/*
|
||
|
|
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_HAL/AP_HAL.h>
|
||
|
|
#include "AP_VisualOdom_MAV.h"
|
||
|
|
#include <AP_SerialManager/AP_SerialManager.h>
|
||
|
|
|
||
|
|
extern const AP_HAL::HAL& hal;
|
||
|
|
|
||
|
|
// constructor
|
||
|
|
AP_VisualOdom_MAV::AP_VisualOdom_MAV(AP_VisualOdom &frontend) :
|
||
|
|
AP_VisualOdom_Backend(frontend)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
// consume VISIOIN_POSITION_DELTA MAVLink message
|
||
|
|
void AP_VisualOdom_MAV::handle_msg(mavlink_message_t *msg)
|
||
|
|
{
|
||
|
|
// decode message
|
||
|
|
mavlink_vision_position_delta_t packet;
|
||
|
|
mavlink_msg_vision_position_delta_decode(msg, &packet);
|
||
|
|
|
||
|
|
const Vector3f angle_delta(packet.angle_delta[0], packet.angle_delta[1], packet.angle_delta[2]);
|
||
|
|
const Vector3f position_delta(packet.position_delta[0], packet.position_delta[1], packet.position_delta[2]);
|
||
|
|
set_deltas(angle_delta, position_delta, packet.time_delta_usec, packet.confidence);
|
||
|
|
}
|