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AP_VisualOdom: support error estimates with quaternion

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This commit is contained in:
Andrew Tridgell 2021-12-18 12:35:36 +11:00
parent 20dd667fdc
commit 8654ea886d
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_VisualOdom/AP_VisualOdom.cpp
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@ -191,7 +191,7 @@ void AP_VisualOdom::handle_vision_position_estimate(uint64_t remote_time_us, uin
}
// general purpose method to consume position estimate data and send to EKF
void AP_VisualOdom::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)
void AP_VisualOdom::handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter)
{
// exit immediately if not enabled
if (!enabled()) {
@ -200,7 +200,7 @@ void AP_VisualOdom::handle_vision_position_estimate(uint64_t remote_time_us, uin
// call backend
if (_driver != nullptr) {
_driver->handle_vision_position_estimate(remote_time_us, time_ms, x, y, z, attitude, 0, 0, reset_counter);
_driver->handle_vision_position_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter);
}
}

2
libraries/AP_VisualOdom/AP_VisualOdom.h
View File

@ -88,7 +88,7 @@ public:
// general purpose methods to consume position estimate data and send to EKF
// distances in meters, roll, pitch and yaw are in radians
void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float posErr, float angErr, uint8_t reset_counter);
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);
void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter);
// general purpose methods to consume velocity estimate data and send to EKF
// velocity in NED meters per second