ardupilot/libraries/AP_VisualOdom/AP_VisualOdom_Backend.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_Backend.h"
#if HAL_VISUALODOM_ENABLED
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL &hal;
/*
base class constructor.
This incorporates initialisation as well.
*/
AP_VisualOdom_Backend::AP_VisualOdom_Backend(AP_VisualOdom &frontend) :
_frontend(frontend)
{
}
// return true if sensor is basically healthy (we are receiving data)
bool AP_VisualOdom_Backend::healthy() const
{
// healthy if we have received sensor messages within the past 300ms
return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
}
// consume vision_position_delta mavlink messages
void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_message_t &msg)
{
// decode message
mavlink_vision_position_delta_t packet;
mavlink_msg_vision_position_delta_decode(&msg, &packet);
// apply rotation to angle and position delta
const enum Rotation rot = _frontend.get_orientation();
Vector3f angle_delta = Vector3f(packet.angle_delta[0], packet.angle_delta[1], packet.angle_delta[2]);
angle_delta.rotate(rot);
Vector3f position_delta = Vector3f(packet.position_delta[0], packet.position_delta[1], packet.position_delta[2]);
position_delta.rotate(rot);
const uint32_t now_ms = AP_HAL::millis();
_last_update_ms = now_ms;
// send to EKF
const float time_delta_sec = packet.time_delta_usec * 1.0E-6;
AP::ahrs().writeBodyFrameOdom(packet.confidence,
position_delta,
angle_delta,
time_delta_sec,
now_ms,
_frontend.get_delay_ms(),
_frontend.get_pos_offset());
// log sensor data
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Write_VisualOdom(time_delta_sec,
angle_delta,
position_delta,
packet.confidence);
}
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// returns the system time of the last reset if reset_counter has not changed
// updates the reset timestamp to the current system time if the reset_counter has changed
uint32_t AP_VisualOdom_Backend::get_reset_timestamp_ms(uint8_t reset_counter)
{
// update reset counter and timestamp if reset_counter has changed
if (reset_counter != _last_reset_counter) {
_last_reset_counter = reset_counter;
_reset_timestamp_ms = AP_HAL::millis();
}
return _reset_timestamp_ms;
}
#endif