mirror of https://github.com/ArduPilot/ardupilot
133 lines
4.8 KiB
C++
133 lines
4.8 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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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#ifndef HAL_VISUALODOM_ENABLED
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#define HAL_VISUALODOM_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
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#endif
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#if HAL_VISUALODOM_ENABLED
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Math/AP_Math.h>
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class AP_VisualOdom_Backend;
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#define AP_VISUALODOM_TIMEOUT_MS 300
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class AP_VisualOdom
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{
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public:
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AP_VisualOdom();
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// get singleton instance
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static AP_VisualOdom *get_singleton() {
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return _singleton;
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}
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// external position backend types (used by _TYPE parameter)
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enum AP_VisualOdom_Type {
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AP_VisualOdom_Type_None = 0,
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AP_VisualOdom_Type_MAV = 1,
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AP_VisualOdom_Type_IntelT265 = 2
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};
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// detect and initialise any sensors
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void init();
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// return true if sensor is enabled
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bool enabled() const;
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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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// get user defined orientation
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enum Rotation get_orientation() const { return (enum Rotation)_orientation.get(); }
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// get user defined scaling applied to position estimates
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float get_pos_scale() const { return _pos_scale; }
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// return a 3D vector defining the position offset of the camera in meters relative to the body frame origin
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const Vector3f &get_pos_offset(void) const { return _pos_offset; }
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// return the sensor delay in milliseconds (see _DELAY_MS parameter)
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uint16_t get_delay_ms() const { return MAX(0, _delay_ms); }
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// return velocity measurement noise in m/s
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float get_vel_noise() const { return _vel_noise; }
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// return position measurement noise in m
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float get_pos_noise() const { return _pos_noise; }
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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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#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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// 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_vision_position_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_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, 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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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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// calibrate camera attitude to align with vehicle's AHRS/EKF attitude
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void align_sensor_to_vehicle();
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// update position offsets to align to AHRS position
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// should only be called when this library is not being used as the position source
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void align_position_to_ahrs(bool align_xy, bool align_z);
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// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
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bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const;
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static const struct AP_Param::GroupInfo var_info[];
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private:
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static AP_VisualOdom *_singleton;
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// parameters
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AP_Int8 _type; // sensor type
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AP_Vector3f _pos_offset; // position offset of the camera in the body frame
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AP_Int8 _orientation; // camera orientation on vehicle frame
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AP_Float _pos_scale; // position scale factor applied to sensor values
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AP_Int16 _delay_ms; // average delay relative to inertial measurements
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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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// reference to backends
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AP_VisualOdom_Backend *_driver;
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};
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namespace AP {
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AP_VisualOdom *visualodom();
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};
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#endif // HAL_VISUALODOM_ENABLED
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