mirror of https://github.com/ArduPilot/ardupilot
28 lines
510 B
C++
28 lines
510 B
C++
#include "AP_DAL_VisualOdom.h"
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#include <AP_VisualOdom/AP_VisualOdom.h>
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#if HAL_VISUALODOM_ENABLED
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#include <AP_Logger/AP_Logger.h>
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#include "AP_DAL.h"
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AP_DAL_VisualOdom::AP_DAL_VisualOdom()
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{
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}
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void AP_DAL_VisualOdom::start_frame()
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{
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const auto *vo = AP::visualodom();
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const log_RVOH old = RVOH;
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RVOH.ptr_is_nullptr = (vo == nullptr);
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if (vo != nullptr) {
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RVOH.healthy = vo->healthy();
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}
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WRITE_REPLAY_BLOCK_IFCHANGD(RVOH, RVOH, old);
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}
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#endif // HAL_VISUALODOM_ENABLED
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