mirror of https://github.com/ArduPilot/ardupilot
106 lines
3.1 KiB
C++
106 lines
3.1 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_VisualOdom.h"
|
||
|
|
#include "AP_VisualOdom_Backend.h"
|
||
|
|
#include "AP_VisualOdom_MAV.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);
|
||
|
|
}
|
||
|
|
|
||
|
|
// 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));
|
||
|
|
}
|
||
|
|
|
||
|
|
// 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_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
|
||
|
|
}
|
||
|
|
|
||
|
|
// consume VISION_POSITION_DELTA MAVLink message
|
||
|
|
void AP_VisualOdom::handle_msg(mavlink_message_t *msg)
|
||
|
|
{
|
||
|
|
// exit immediately if not enabled
|
||
|
|
if (!enabled()) {
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// call backend
|
||
|
|
if (_driver != nullptr) {
|
||
|
|
_driver->handle_msg(msg);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|