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AP_VisualOdom: add HAL_VISUALODOM_ENABLED

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This commit is contained in:
Randy Mackay 2020-04-06 12:17:42 +09:00
parent 8f94a0cfb0
commit 3d75dc7815
8 changed files with 44 additions and 3 deletions
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5
libraries/AP_VisualOdom/AP_VisualOdom.cpp
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@ -14,6 +14,9 @@
*/ */
#include "AP_VisualOdom.h" #include "AP_VisualOdom.h"
#if HAL_VISUALODOM_ENABLED
#include "AP_VisualOdom_Backend.h" #include "AP_VisualOdom_Backend.h"
#include "AP_VisualOdom_MAV.h" #include "AP_VisualOdom_MAV.h"
#include "AP_VisualOdom_IntelT265.h" #include "AP_VisualOdom_IntelT265.h"
@ -210,3 +213,5 @@ AP_VisualOdom *visualodom()
} }
} }
#endif

11
libraries/AP_VisualOdom/AP_VisualOdom.h
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@ -14,6 +14,15 @@
*/ */
#pragma once #pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#ifndef HAL_VISUALODOM_ENABLED
#define HAL_VISUALODOM_ENABLED !HAL_MINIMIZE_FEATURES
#endif
#if HAL_VISUALODOM_ENABLED
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
@ -88,3 +97,5 @@ private:
namespace AP { namespace AP {
AP_VisualOdom *visualodom(); AP_VisualOdom *visualodom();
}; };
#endif // HAL_VISUALODOM_ENABLED

5
libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
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@ -14,6 +14,9 @@
*/ */
#include "AP_VisualOdom_Backend.h" #include "AP_VisualOdom_Backend.h"
#if HAL_VISUALODOM_ENABLED
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
@ -34,3 +37,5 @@ bool AP_VisualOdom_Backend::healthy() const
// healthy if we have received sensor messages within the past 300ms // healthy if we have received sensor messages within the past 300ms
return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS); return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
} }
#endif

8
libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
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@ -14,11 +14,10 @@
*/ */
#pragma once #pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include "AP_VisualOdom.h" #include "AP_VisualOdom.h"
#if HAL_VISUALODOM_ENABLED
class AP_VisualOdom_Backend class AP_VisualOdom_Backend
{ {
public: public:
@ -54,3 +53,6 @@ protected:
AP_VisualOdom &_frontend; // reference to frontend AP_VisualOdom &_frontend; // reference to frontend
uint32_t _last_update_ms; // system time of last update from sensor (used by health checks) uint32_t _last_update_ms; // system time of last update from sensor (used by health checks)
}; };
#endif

5
libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
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@ -14,6 +14,9 @@
*/ */
#include "AP_VisualOdom_IntelT265.h" #include "AP_VisualOdom_IntelT265.h"
#if HAL_VISUALODOM_ENABLED
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
@ -191,3 +194,5 @@ bool AP_VisualOdom_IntelT265::pre_arm_check(char *failure_msg, uint8_t failure_m
return true; return true;
} }
#endif

4
libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h
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@ -2,6 +2,8 @@
#include "AP_VisualOdom_Backend.h" #include "AP_VisualOdom_Backend.h"
#if HAL_VISUALODOM_ENABLED
class AP_VisualOdom_IntelT265 : public AP_VisualOdom_Backend class AP_VisualOdom_IntelT265 : public AP_VisualOdom_Backend
{ {
@ -43,3 +45,5 @@ protected:
bool _error_orientation; // true if the orientation is not supported bool _error_orientation; // true if the orientation is not supported
Quaternion _attitude_last; // last attitude received from camera (used for arming checks) Quaternion _attitude_last; // last attitude received from camera (used for arming checks)
}; };
#endif

5
libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
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@ -14,6 +14,9 @@
*/ */
#include "AP_VisualOdom_MAV.h" #include "AP_VisualOdom_MAV.h"
#if HAL_VISUALODOM_ENABLED
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
@ -81,3 +84,5 @@ void AP_VisualOdom_MAV::handle_vision_position_estimate(uint64_t remote_time_us,
// record time for health monitoring // record time for health monitoring
_last_update_ms = AP_HAL::millis(); _last_update_ms = AP_HAL::millis();
} }
#endif

4
libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
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@ -2,6 +2,8 @@
#include "AP_VisualOdom_Backend.h" #include "AP_VisualOdom_Backend.h"
#if HAL_VISUALODOM_ENABLED
class AP_VisualOdom_MAV : public AP_VisualOdom_Backend class AP_VisualOdom_MAV : public AP_VisualOdom_Backend
{ {
@ -15,3 +17,5 @@ public:
// consume vision position estimate data and send to EKF. distances in meters // 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; void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude) override;
}; };
#endif