mirror of https://github.com/ArduPilot/ardupilot
22 lines
745 B
C++
22 lines
745 B
C++
#pragma once
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#include "AP_VisualOdom_Backend.h"
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#if HAL_VISUALODOM_ENABLED
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class AP_VisualOdom_MAV : public AP_VisualOdom_Backend
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{
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public:
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// constructor
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using AP_VisualOdom_Backend::AP_VisualOdom_Backend;
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// consume vision position estimate data and send to EKF. distances in meters
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void handle_vision_position_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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// 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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};
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#endif
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