AP_VisualOdom: MAV driver implements handle_vision_position_estimate

This commit is contained in:
Randy Mackay 2020-04-03 13:35:09 +09:00
parent c78b1ab3bf
commit 3530d5b348
2 changed files with 27 additions and 0 deletions

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@ -57,3 +57,27 @@ void AP_VisualOdom_MAV::handle_vision_position_delta_msg(const mavlink_message_t
position_delta, position_delta,
packet.confidence); 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)
{
Vector3f pos{x, y, z};
// send attitude and position to EKF
const float posErr = 0; // parameter required?
const float angErr = 0; // parameter required?
const uint32_t reset_timestamp_ms = 0; // no data available
AP::ahrs().writeExtNavData(_frontend.get_pos_offset(), pos, attitude, posErr, angErr, time_ms, reset_timestamp_ms);
// calculate euler orientation for logging
float roll;
float pitch;
float yaw;
attitude.to_euler(roll, pitch, yaw);
// log sensor data
AP::logger().Write_VisualPosition(remote_time_us, time_ms, x, y, z, degrees(roll), degrees(pitch), degrees(yaw));
// record time for health monitoring
_last_update_ms = AP_HAL::millis();
}

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@ -11,4 +11,7 @@ public:
// consume vision_position_delta mavlink messages // consume vision_position_delta mavlink messages
void handle_vision_position_delta_msg(const mavlink_message_t &msg) override; 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) override;
}; };