mirror of https://github.com/ArduPilot/ardupilot
61 lines
2.3 KiB
C++
61 lines
2.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_VisualOdom_config.h"
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#if AP_VISUALODOM_MAV_ENABLED
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#include "AP_VisualOdom_MAV.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_AHRS/AP_AHRS.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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{
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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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// calculate euler orientation for logging
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float roll;
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float pitch;
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float yaw;
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attitude.to_euler(roll, pitch, yaw);
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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);
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// record time for health monitoring
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_last_update_ms = AP_HAL::millis();
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}
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void AP_VisualOdom_MAV::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter)
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{
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// send velocity to EKF
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AP::ahrs().writeExtNavVelData(vel, _frontend.get_vel_noise(), time_ms, _frontend.get_delay_ms());
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// record time for health monitoring
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_last_update_ms = AP_HAL::millis();
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Write_VisualVelocity(remote_time_us, time_ms, vel, reset_counter, false);
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}
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#endif // AP_VISUALODOM_MAV_ENABLED
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