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AP_VisualOdom: rename handle_vision_position_delta_msg

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This commit is contained in:
Randy Mackay 2020-03-31 14:41:54 +09:00
parent b519d285a6
commit c78b1ab3bf
5 changed files with 11 additions and 11 deletions
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6
libraries/AP_VisualOdom/AP_VisualOdom.cpp
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@ -106,8 +106,8 @@ bool AP_VisualOdom::healthy() const
return _driver->healthy();
}
// consume VISION_POSITION_DELTA MAVLink message
void AP_VisualOdom::handle_msg(const mavlink_message_t &msg)
// consume vision_position_delta mavlink messages
void AP_VisualOdom::handle_vision_position_delta_msg(const mavlink_message_t &msg)
{
// exit immediately if not enabled
if (!enabled()) {
@ -116,7 +116,7 @@ void AP_VisualOdom::handle_msg(const mavlink_message_t &msg)
// call backend
if (_driver != nullptr) {
_driver->handle_msg(msg);
_driver->handle_vision_position_delta_msg(msg);
}
}

4
libraries/AP_VisualOdom/AP_VisualOdom.h
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@ -55,8 +55,8 @@ public:
// return a 3D vector defining the position offset of the camera in meters relative to the body frame origin
const Vector3f &get_pos_offset(void) const { return _pos_offset; }
// consume data from MAVLink messages
void handle_msg(const mavlink_message_t &msg);
// consume vision_position_delta mavlink messages
void handle_vision_position_delta_msg(const mavlink_message_t &msg);
// general purpose methods to consume position estimate data and send to EKF
// distances in meters, roll, pitch and yaw are in radians

4
libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
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@ -28,8 +28,8 @@ public:
// return true if sensor is basically healthy (we are receiving data)
bool healthy() const;
// consume VISION_POSITION_DELTA MAVLink message
virtual void handle_msg(const mavlink_message_t &msg) {};
// consume vision_position_delta mavlink messages
virtual void handle_vision_position_delta_msg(const mavlink_message_t &msg) {};
// general purpose methods to consume position estimate data and send to EKF
// distances in meters, roll, pitch and yaw are in radians

4
libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
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@ -26,8 +26,8 @@ AP_VisualOdom_MAV::AP_VisualOdom_MAV(AP_VisualOdom &frontend) :
{
}
// consume VISION_POSITION_DELTA MAVLink message
void AP_VisualOdom_MAV::handle_msg(const mavlink_message_t &msg)
// 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;

4
libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
View File

@ -9,6 +9,6 @@ public:
// constructor
AP_VisualOdom_MAV(AP_VisualOdom &frontend);
// consume VISION_POSITION_DELTA MAVLink message
void handle_msg(const mavlink_message_t &msg) override;
// consume vision_position_delta mavlink messages
void handle_vision_position_delta_msg(const mavlink_message_t &msg) override;
};