mirror of https://github.com/ArduPilot/ardupilot
AP_VisualOdom: use Odometry quality
This commit is contained in:
Randy Mackay
Andrew Tridgell
parent
81b0d599a8
commit
d1360c14f8
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@ -106,6 +106,14 @@ const AP_Param::GroupInfo AP_VisualOdom::var_info[] = {
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// @User: Advanced
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AP_GROUPINFO("_YAW_M_NSE", 7, AP_VisualOdom, _yaw_noise, 0.2f),
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// @Param: _QUAL_MIN
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// @DisplayName: Visual odometry minimum quality
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// @Description: Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown
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// @Units: %
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// @Range: -1 100
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// @User: Advanced
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AP_GROUPINFO("_QUAL_MIN", 8, AP_VisualOdom, _quality_min, 0),
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AP_GROUPEND
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};
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@ -161,6 +169,16 @@ bool AP_VisualOdom::healthy() const
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return _driver->healthy();
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}
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// return quality as a measure from 0 ~ 100
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// -1 means failed, 0 means unknown, 1 is worst, 100 is best
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int8_t AP_VisualOdom::quality() const
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{
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if (_driver == nullptr) {
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return 0;
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}
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return _driver->quality();
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}
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#if HAL_GCS_ENABLED
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// consume vision_position_delta mavlink messages
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void AP_VisualOdom::handle_vision_position_delta_msg(const mavlink_message_t &msg)
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@ -179,7 +197,8 @@ void AP_VisualOdom::handle_vision_position_delta_msg(const mavlink_message_t &ms
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// general purpose method to consume position estimate data and send to EKF
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// distances in meters, roll, pitch and yaw are in radians
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void AP_VisualOdom::handle_pose_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)
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void AP_VisualOdom::handle_pose_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, int8_t quality)
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{
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// exit immediately if not enabled
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if (!enabled()) {
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@ -191,12 +210,13 @@ void AP_VisualOdom::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_
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// convert attitude to quaternion and call backend
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Quaternion attitude;
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attitude.from_euler(roll, pitch, yaw);
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_driver->handle_pose_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter);
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_driver->handle_pose_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter, quality);
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}
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}
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// general purpose method to consume position estimate data and send to EKF
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void AP_VisualOdom::handle_pose_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)
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void AP_VisualOdom::handle_pose_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, int8_t quality)
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{
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// exit immediately if not enabled
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if (!enabled()) {
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@ -205,11 +225,14 @@ void AP_VisualOdom::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_
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// call backend
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if (_driver != nullptr) {
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_driver->handle_pose_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter);
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_driver->handle_pose_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter, quality);
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}
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}
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void AP_VisualOdom::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter)
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// general purpose methods to consume velocity estimate data and send to EKF
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// velocity in NED meters per second
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void AP_VisualOdom::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality)
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{
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// exit immediately if not enabled
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if (!enabled()) {
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@ -218,7 +241,7 @@ void AP_VisualOdom::handle_vision_speed_estimate(uint64_t remote_time_us, uint32
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// call backend
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if (_driver != nullptr) {
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_driver->handle_vision_speed_estimate(remote_time_us, time_ms, vel, reset_counter);
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_driver->handle_vision_speed_estimate(remote_time_us, time_ms, vel, reset_counter, quality);
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}
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}
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@ -83,6 +83,13 @@ public:
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// return yaw measurement noise in rad
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float get_yaw_noise() const { return _yaw_noise; }
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// return quality threshold
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int8_t get_quality_min() const { return _quality_min; }
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// return quality as a measure from -1 ~ 100
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// -1 means failed, 0 means unknown, 1 is worst, 100 is best
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int8_t quality() const;
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#if HAL_GCS_ENABLED
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// consume vision_position_delta mavlink messages
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void handle_vision_position_delta_msg(const mavlink_message_t &msg);
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@ -90,12 +97,14 @@ public:
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// general purpose methods to consume position estimate data and send to EKF
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// distances in meters, roll, pitch and yaw are in radians
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void handle_pose_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);
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void handle_pose_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);
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void handle_pose_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, int8_t quality);
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void handle_pose_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, int8_t quality);
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// general purpose methods to consume velocity estimate data and send to EKF
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// velocity in NED meters per second
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void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter);
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality);
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// request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
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void request_align_yaw_to_ahrs();
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@ -126,6 +135,7 @@ private:
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AP_Float _vel_noise; // velocity measurement noise in m/s
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AP_Float _pos_noise; // position measurement noise in meters
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AP_Float _yaw_noise; // yaw measurement noise in radians
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AP_Int8 _quality_min; // positions and velocities will only be sent to EKF if over this value. if 0 all values sent to EKF
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// reference to backends
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AP_VisualOdom_Backend *_driver;
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@ -29,16 +29,22 @@ public:
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// return true if sensor is basically healthy (we are receiving data)
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bool healthy() const;
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// return quality as a measure from -1 ~ 100
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// -1 means failed, 0 means unknown, 1 is worst, 100 is best
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int8_t quality() const { return _quality; }
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#if HAL_GCS_ENABLED
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// consume vision_position_delta mavlink messages
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void handle_vision_position_delta_msg(const mavlink_message_t &msg);
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#endif
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// consume vision pose estimate data and send to EKF. distances in meters
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virtual void handle_pose_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) = 0;
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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virtual void handle_pose_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, int8_t quality) = 0;
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// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
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virtual void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) = 0;
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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virtual void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality) = 0;
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// request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
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virtual void request_align_yaw_to_ahrs() {}
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@ -62,8 +68,8 @@ protected:
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#if HAL_LOGGING_ENABLED
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// Logging Functions
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void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
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void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored);
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void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored);
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void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored, int8_t quality);
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void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored, int8_t quality);
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#endif
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AP_VisualOdom &_frontend; // reference to frontend
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@ -72,6 +78,9 @@ protected:
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// reset counter handling
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uint8_t _last_reset_counter; // last sensor reset counter received
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uint32_t _reset_timestamp_ms; // time reset counter was received
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// quality
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int8_t _quality; // last recorded quality
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};
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#endif // HAL_VISUALODOM_ENABLED
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@ -28,7 +28,8 @@
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extern const AP_HAL::HAL& hal;
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// consume vision pose estimate data and send to EKF. distances in meters
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void AP_VisualOdom_IntelT265::handle_pose_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)
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void AP_VisualOdom_IntelT265::handle_pose_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, int8_t quality)
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{
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const float scale_factor = _frontend.get_pos_scale();
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Vector3f pos{x * scale_factor, y * scale_factor, z * scale_factor};
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@ -59,8 +60,11 @@ void AP_VisualOdom_IntelT265::handle_pose_estimate(uint64_t remote_time_us, uint
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posErr = constrain_float(posErr, _frontend.get_pos_noise(), 100.0f);
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angErr = constrain_float(angErr, _frontend.get_yaw_noise(), 1.5f);
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// record quality
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_quality = quality;
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// check for recent position reset
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bool consume = should_consume_sensor_data(true, reset_counter);
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bool consume = should_consume_sensor_data(true, reset_counter) && (_quality >= _frontend.get_quality_min());
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if (consume) {
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// send attitude and position to EKF
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AP::ahrs().writeExtNavData(pos, att, posErr, angErr, time_ms, _frontend.get_delay_ms(), get_reset_timestamp_ms(reset_counter));
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@ -74,7 +78,7 @@ void AP_VisualOdom_IntelT265::handle_pose_estimate(uint64_t remote_time_us, uint
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#if HAL_LOGGING_ENABLED
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// log sensor data
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Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), wrap_360(degrees(yaw)), posErr, angErr, reset_counter, !consume);
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Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), wrap_360(degrees(yaw)), posErr, angErr, reset_counter, !consume, _quality);
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#endif
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// store corrected attitude for use in pre-arm checks
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@ -85,14 +89,18 @@ void AP_VisualOdom_IntelT265::handle_pose_estimate(uint64_t remote_time_us, uint
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}
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// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
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void AP_VisualOdom_IntelT265::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter)
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void AP_VisualOdom_IntelT265::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality)
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{
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// rotate velocity to align with vehicle
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Vector3f vel_corrected = vel;
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rotate_velocity(vel_corrected);
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// record quality
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_quality = quality;
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// check for recent position reset
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bool consume = should_consume_sensor_data(false, reset_counter);
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bool consume = should_consume_sensor_data(false, reset_counter) && (_quality >= _frontend.get_quality_min());
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if (consume) {
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// send velocity to EKF
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AP::ahrs().writeExtNavVelData(vel_corrected, _frontend.get_vel_noise(), time_ms, _frontend.get_delay_ms());
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@ -102,7 +110,7 @@ void AP_VisualOdom_IntelT265::handle_vision_speed_estimate(uint64_t remote_time_
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_last_update_ms = AP_HAL::millis();
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#if HAL_LOGGING_ENABLED
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Write_VisualVelocity(remote_time_us, time_ms, vel_corrected, reset_counter, !consume);
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Write_VisualVelocity(remote_time_us, time_ms, vel_corrected, reset_counter, !consume, _quality);
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#endif
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}
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@ -14,10 +14,12 @@ public:
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using AP_VisualOdom_Backend::AP_VisualOdom_Backend;
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// consume vision pose estimate data and send to EKF. distances in meters
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void handle_pose_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) override;
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void handle_pose_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, int8_t quality) override;
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// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
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void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) override;
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality) override;
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// request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
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void request_align_yaw_to_ahrs() override { _align_yaw = true; }
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@ -24,7 +24,7 @@ void AP_VisualOdom_Backend::Write_VisualOdom(float time_delta, const Vector3f &a
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}
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// Write visual position sensor data. x,y,z are in meters, angles are in degrees
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void AP_VisualOdom_Backend::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored)
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void AP_VisualOdom_Backend::Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored, int8_t quality)
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{
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const struct log_VisualPosition pkt_visualpos {
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LOG_PACKET_HEADER_INIT(LOG_VISUALPOS_MSG),
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@ -40,13 +40,14 @@ void AP_VisualOdom_Backend::Write_VisualPosition(uint64_t remote_time_us, uint32
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pos_err : pos_err,
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ang_err : ang_err,
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reset_counter : reset_counter,
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ignored : (uint8_t)ignored
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ignored : (uint8_t)ignored,
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quality : quality
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};
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AP::logger().WriteBlock(&pkt_visualpos, sizeof(log_VisualPosition));
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}
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// Write visual velocity sensor data, velocity in NED meters per second
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void AP_VisualOdom_Backend::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored)
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void AP_VisualOdom_Backend::Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored, int8_t quality)
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{
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const struct log_VisualVelocity pkt_visualvel {
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LOG_PACKET_HEADER_INIT(LOG_VISUALVEL_MSG),
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@ -58,7 +59,8 @@ void AP_VisualOdom_Backend::Write_VisualVelocity(uint64_t remote_time_us, uint32
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vel_z : vel.z,
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vel_err : _frontend.get_vel_noise(),
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reset_counter : reset_counter,
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ignored : (uint8_t)ignored
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ignored : (uint8_t)ignored,
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quality : quality
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};
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AP::logger().WriteBlock(&pkt_visualvel, sizeof(log_VisualVelocity));
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}
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@ -24,15 +24,23 @@
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#include <AP_Logger/AP_Logger.h>
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// consume vision pose estimate data and send to EKF. distances in meters
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void AP_VisualOdom_MAV::handle_pose_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)
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void AP_VisualOdom_MAV::handle_pose_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, int8_t quality)
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{
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const float scale_factor = _frontend.get_pos_scale();
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Vector3f pos{x * scale_factor, y * scale_factor, z * scale_factor};
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posErr = constrain_float(posErr, _frontend.get_pos_noise(), 100.0f);
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angErr = constrain_float(angErr, _frontend.get_yaw_noise(), 1.5f);
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// send attitude and position to EKF
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AP::ahrs().writeExtNavData(pos, attitude, posErr, angErr, time_ms, _frontend.get_delay_ms(), get_reset_timestamp_ms(reset_counter));
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// record quality
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_quality = quality;
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||||
|
||||
// send attitude and position to EKF if quality OK
|
||||
bool consume = (_quality >= _frontend.get_quality_min());
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||||
if (consume) {
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||||
AP::ahrs().writeExtNavData(pos, attitude, posErr, angErr, time_ms, _frontend.get_delay_ms(), get_reset_timestamp_ms(reset_counter));
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||||
}
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||||
|
||||
// calculate euler orientation for logging
|
||||
float roll;
|
||||
|
|
@ -42,23 +50,31 @@ void AP_VisualOdom_MAV::handle_pose_estimate(uint64_t remote_time_us, uint32_t t
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|||
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||||
#if HAL_LOGGING_ENABLED
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||||
// log sensor data
|
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Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), degrees(yaw), posErr, angErr, reset_counter, false);
|
||||
Write_VisualPosition(remote_time_us, time_ms, pos.x, pos.y, pos.z, degrees(roll), degrees(pitch), degrees(yaw), posErr, angErr, reset_counter, !consume, _quality);
|
||||
#endif
|
||||
|
||||
// record time for health monitoring
|
||||
_last_update_ms = AP_HAL::millis();
|
||||
}
|
||||
|
||||
void AP_VisualOdom_MAV::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter)
|
||||
// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
|
||||
// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
|
||||
void AP_VisualOdom_MAV::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality)
|
||||
{
|
||||
// send velocity to EKF
|
||||
AP::ahrs().writeExtNavVelData(vel, _frontend.get_vel_noise(), time_ms, _frontend.get_delay_ms());
|
||||
// record quality
|
||||
_quality = quality;
|
||||
|
||||
// send velocity to EKF if quality OK
|
||||
bool consume = (_quality >= _frontend.get_quality_min());
|
||||
if (consume) {
|
||||
AP::ahrs().writeExtNavVelData(vel, _frontend.get_vel_noise(), time_ms, _frontend.get_delay_ms());
|
||||
}
|
||||
|
||||
// record time for health monitoring
|
||||
_last_update_ms = AP_HAL::millis();
|
||||
|
||||
#if HAL_LOGGING_ENABLED
|
||||
Write_VisualVelocity(remote_time_us, time_ms, vel, reset_counter, false);
|
||||
Write_VisualVelocity(remote_time_us, time_ms, vel, reset_counter, !consume, _quality);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -14,10 +14,12 @@ public:
|
|||
using AP_VisualOdom_Backend::AP_VisualOdom_Backend;
|
||||
|
||||
// consume vision pose estimate data and send to EKF. distances in meters
|
||||
void handle_pose_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) override;
|
||||
// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
|
||||
void handle_pose_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, int8_t quality) override;
|
||||
|
||||
// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
|
||||
void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) override;
|
||||
// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
|
||||
void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality) override;
|
||||
};
|
||||
|
||||
#endif // AP_VISUALODOM_MAV_ENABLED
|
||||
|
|
|
|||
|
|
@ -40,13 +40,14 @@ struct PACKED log_VisualOdom {
|
|||
// @Field: PX: Position X-axis (North-South)
|
||||
// @Field: PY: Position Y-axis (East-West)
|
||||
// @Field: PZ: Position Z-axis (Down-Up)
|
||||
// @Field: Roll: Roll lean angle
|
||||
// @Field: Pitch: Pitch lean angle
|
||||
// @Field: Yaw: Yaw angle
|
||||
// @Field: R: Roll lean angle
|
||||
// @Field: P: Pitch lean angle
|
||||
// @Field: Y: Yaw angle
|
||||
// @Field: PErr: Position estimate error
|
||||
// @Field: AErr: Attitude estimate error
|
||||
// @Field: Rst: Position reset counter
|
||||
// @Field: Ign: Ignored
|
||||
// @Field: Q: Quality
|
||||
struct PACKED log_VisualPosition {
|
||||
LOG_PACKET_HEADER;
|
||||
uint64_t time_us;
|
||||
|
|
@ -62,6 +63,7 @@ struct PACKED log_VisualPosition {
|
|||
float ang_err; // radians
|
||||
uint8_t reset_counter;
|
||||
uint8_t ignored;
|
||||
int8_t quality;
|
||||
};
|
||||
|
||||
// @LoggerMessage: VISV
|
||||
|
|
@ -75,6 +77,7 @@ struct PACKED log_VisualPosition {
|
|||
// @Field: VErr: Velocity estimate error
|
||||
// @Field: Rst: Velocity reset counter
|
||||
// @Field: Ign: Ignored
|
||||
// @Field: Q: Quality
|
||||
struct PACKED log_VisualVelocity {
|
||||
LOG_PACKET_HEADER;
|
||||
uint64_t time_us;
|
||||
|
|
@ -86,6 +89,7 @@ struct PACKED log_VisualVelocity {
|
|||
float vel_err;
|
||||
uint8_t reset_counter;
|
||||
uint8_t ignored;
|
||||
int8_t quality;
|
||||
};
|
||||
|
||||
#if HAL_VISUALODOM_ENABLED
|
||||
|
|
@ -93,9 +97,9 @@ struct PACKED log_VisualVelocity {
|
|||
{ LOG_VISUALODOM_MSG, sizeof(log_VisualOdom), \
|
||||
"VISO", "Qffffffff", "TimeUS,dt,AngDX,AngDY,AngDZ,PosDX,PosDY,PosDZ,conf", "ssrrrmmm-", "FF000000-" }, \
|
||||
{ LOG_VISUALPOS_MSG, sizeof(log_VisualPosition), \
|
||||
"VISP", "QQIffffffffBB", "TimeUS,RTimeUS,CTimeMS,PX,PY,PZ,Roll,Pitch,Yaw,PErr,AErr,Rst,Ign", "sssmmmddhmd--", "FFC00000000--" }, \
|
||||
"VISP", "QQIffffffffBBb", "TimeUS,RTimeUS,CTimeMS,PX,PY,PZ,R,P,Y,PErr,AErr,Rst,Ign,Q", "sssmmmddhmd--%", "FFC00000000--0" }, \
|
||||
{ LOG_VISUALVEL_MSG, sizeof(log_VisualVelocity), \
|
||||
"VISV", "QQIffffBB", "TimeUS,RTimeUS,CTimeMS,VX,VY,VZ,VErr,Rst,Ign", "sssnnnn--", "FFC0000--" },
|
||||
"VISV", "QQIffffBBb", "TimeUS,RTimeUS,CTimeMS,VX,VY,VZ,VErr,Rst,Ign,Q", "sssnnnn--%", "FFC0000--0" },
|
||||
#else
|
||||
#define LOG_STRUCTURE_FROM_VISUALODOM
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Reference in New Issue