mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.4 KiB
C++
39 lines
1.4 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_HAL/AP_HAL.h>
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#include "AP_VisualOdom_MAV.h"
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#include <AP_SerialManager/AP_SerialManager.h>
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extern const AP_HAL::HAL& hal;
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// constructor
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AP_VisualOdom_MAV::AP_VisualOdom_MAV(AP_VisualOdom &frontend) :
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AP_VisualOdom_Backend(frontend)
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{
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}
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// consume VISIOIN_POSITION_DELTA MAVLink message
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void AP_VisualOdom_MAV::handle_msg(mavlink_message_t *msg)
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{
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// decode message
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mavlink_vision_position_delta_t packet;
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mavlink_msg_vision_position_delta_decode(msg, &packet);
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const Vector3f angle_delta(packet.angle_delta[0], packet.angle_delta[1], packet.angle_delta[2]);
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const Vector3f position_delta(packet.position_delta[0], packet.position_delta[1], packet.position_delta[2]);
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set_deltas(angle_delta, position_delta, packet.time_delta_usec, packet.confidence);
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}
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