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Copter: move visual odometry update function into AP_VisualOdom

This commit is contained in:
Peter Barker 2018-04-06 22:15:15 +10:00 committed by Peter Barker
parent bf9b4dca70
commit f64ad2f433
3 changed files with 1 additions and 30 deletions
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2
ArduCopter/ArduCopter.cpp
View File

@ -106,7 +106,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_Beacon, &copter.g2.beacon, update, 400, 50), SCHED_TASK_CLASS(AP_Beacon, &copter.g2.beacon, update, 400, 50),
#endif #endif
#if VISUAL_ODOMETRY_ENABLED == ENABLED #if VISUAL_ODOMETRY_ENABLED == ENABLED
SCHED_TASK(update_visual_odom, 400, 50), SCHED_TASK_CLASS(AP_VisualOdom, &copter.g2.visual_odom, update, 400, 50),
#endif #endif
SCHED_TASK(update_altitude, 10, 100), SCHED_TASK(update_altitude, 10, 100),
SCHED_TASK(run_nav_updates, 50, 100), SCHED_TASK(run_nav_updates, 50, 100),

6
ArduCopter/Copter.h
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@ -549,11 +549,6 @@ private:
// last esc calibration notification update // last esc calibration notification update
uint32_t esc_calibration_notify_update_ms; uint32_t esc_calibration_notify_update_ms;
#if VISUAL_ODOMETRY_ENABLED == ENABLED
// last visual odometry update time
uint32_t visual_odom_last_update_ms;
#endif
// Top-level logic // Top-level logic
// setup the var_info table // setup the var_info table
AP_Param param_loader; AP_Param param_loader;
@ -837,7 +832,6 @@ private:
void update_proximity(); void update_proximity();
void update_sensor_status_flags(void); void update_sensor_status_flags(void);
void init_visual_odom(); void init_visual_odom();
void update_visual_odom();
void winch_init(); void winch_init();
void winch_update(); void winch_update();

23
ArduCopter/sensors.cpp
View File

@ -403,29 +403,6 @@ void Copter::init_visual_odom()
#endif #endif
} }
// update visual odometry sensor
void Copter::update_visual_odom()
{
#if VISUAL_ODOMETRY_ENABLED == ENABLED
// check for updates
if (g2.visual_odom.enabled() && (g2.visual_odom.get_last_update_ms() != visual_odom_last_update_ms)) {
visual_odom_last_update_ms = g2.visual_odom.get_last_update_ms();
float time_delta_sec = g2.visual_odom.get_time_delta_usec() / 1000000.0f;
ahrs.writeBodyFrameOdom(g2.visual_odom.get_confidence(),
g2.visual_odom.get_position_delta(),
g2.visual_odom.get_angle_delta(),
time_delta_sec,
visual_odom_last_update_ms,
g2.visual_odom.get_pos_offset());
// log sensor data
logger.Write_VisualOdom(time_delta_sec,
g2.visual_odom.get_angle_delta(),
g2.visual_odom.get_position_delta(),
g2.visual_odom.get_confidence());
}
#endif
}
// winch and wheel encoder initialisation // winch and wheel encoder initialisation
void Copter::winch_init() void Copter::winch_init()
{ {