mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.7 KiB
C++
54 lines
1.7 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_Backend.h"
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#if HAL_VISUALODOM_ENABLED
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#include <AP_Logger/AP_Logger.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL &hal;
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/*
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base class constructor.
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This incorporates initialisation as well.
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*/
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AP_VisualOdom_Backend::AP_VisualOdom_Backend(AP_VisualOdom &frontend) :
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_frontend(frontend)
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{
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}
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// return true if sensor is basically healthy (we are receiving data)
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bool AP_VisualOdom_Backend::healthy() const
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{
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// healthy if we have received sensor messages within the past 300ms
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return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
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}
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// returns the system time of the last reset if reset_counter has not changed
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// updates the reset timestamp to the current system time if the reset_counter has changed
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uint32_t AP_VisualOdom_Backend::get_reset_timestamp_ms(uint8_t reset_counter)
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{
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// update reset counter and timestamp if reset_counter has changed
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if (reset_counter != _last_reset_counter) {
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_last_reset_counter = reset_counter;
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_reset_timestamp_ms = AP_HAL::millis();
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}
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return _reset_timestamp_ms;
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}
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#endif
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