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AP_VisualOdom: T265 supports vision-position-delta 

implementation is the same for both backends so move to AP_VisualOdom_Backend
This commit is contained in:
Randy Mackay 2020-04-14 12:48:13 +09:00
parent 870159c14f
commit 33d29feab9
5 changed files with 34 additions and 40 deletions
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33
libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
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@ -38,6 +38,39 @@ bool AP_VisualOdom_Backend::healthy() const
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 / 1000000.0f;
AP::ahrs_navekf().writeBodyFrameOdom(packet.confidence,
position_delta,
angle_delta,
time_delta_sec,
now_ms,
_frontend.get_pos_offset());
// log sensor data
AP::logger().Write_VisualOdom(time_delta_sec,
angle_delta,
position_delta,
packet.confidence);
}
// 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)

2
libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
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@ -28,7 +28,7 @@ public:
bool healthy() const;
// consume vision_position_delta mavlink messages
virtual void handle_vision_position_delta_msg(const mavlink_message_t &msg) = 0;
void handle_vision_position_delta_msg(const mavlink_message_t &msg);
// consume vision position estimate data and send to EKF. distances in meters
virtual void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, uint8_t reset_counter) = 0;

3
libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h
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@ -11,9 +11,6 @@ public:
using AP_VisualOdom_Backend::AP_VisualOdom_Backend;
// ignore vision-position-delta messages from T265
void handle_vision_position_delta_msg(const mavlink_message_t &msg) override {};
// consume vision position estimate data and send to EKF. distances in meters
void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, uint8_t reset_counter) override;

33
libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
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@ -29,39 +29,6 @@ AP_VisualOdom_MAV::AP_VisualOdom_MAV(AP_VisualOdom &frontend) :
{
}
// consume vision_position_delta mavlink messages
void AP_VisualOdom_MAV::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 / 1000000.0f;
AP::ahrs_navekf().writeBodyFrameOdom(packet.confidence,
position_delta,
angle_delta,
time_delta_sec,
now_ms,
_frontend.get_pos_offset());
// log sensor data
AP::logger().Write_VisualOdom(time_delta_sec,
angle_delta,
position_delta,
packet.confidence);
}
// consume vision position estimate data and send to EKF. distances in meters
void AP_VisualOdom_MAV::handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, uint8_t reset_counter)
{

3
libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
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@ -11,9 +11,6 @@ public:
// constructor
AP_VisualOdom_MAV(AP_VisualOdom &frontend);
// consume vision_position_delta mavlink messages
void handle_vision_position_delta_msg(const mavlink_message_t &msg) override;
// consume vision position estimate data and send to EKF. distances in meters
void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, uint8_t reset_counter) override;
};