ardupilot/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h

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#pragma once
#include "AP_VisualOdom_config.h"
#if AP_VISUALODOM_MAV_ENABLED
#include "AP_VisualOdom_Backend.h"
class AP_VisualOdom_MAV : public AP_VisualOdom_Backend
{
public:
// constructor
using AP_VisualOdom_Backend::AP_VisualOdom_Backend;
// consume vision pose estimate data and send to EKF. distances in meters
void handle_pose_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) override;
// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) override;
};
#endif // AP_VISUALODOM_MAV_ENABLED