mirror of https://github.com/ArduPilot/ardupilot
90 lines
3.3 KiB
C++
90 lines
3.3 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_MAV.h"
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#if HAL_VISUALODOM_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Logger/AP_Logger.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 vision_position_delta mavlink messages
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void AP_VisualOdom_MAV::handle_vision_position_delta_msg(const 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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// apply rotation to angle and position delta
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const enum Rotation rot = _frontend.get_orientation();
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Vector3f angle_delta = Vector3f(packet.angle_delta[0], packet.angle_delta[1], packet.angle_delta[2]);
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angle_delta.rotate(rot);
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Vector3f position_delta = Vector3f(packet.position_delta[0], packet.position_delta[1], packet.position_delta[2]);
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position_delta.rotate(rot);
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const uint32_t now_ms = AP_HAL::millis();
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_last_update_ms = now_ms;
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// send to EKF
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const float time_delta_sec = packet.time_delta_usec / 1000000.0f;
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AP::ahrs_navekf().writeBodyFrameOdom(packet.confidence,
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position_delta,
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angle_delta,
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time_delta_sec,
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now_ms,
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_frontend.get_pos_offset());
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// log sensor data
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AP::logger().Write_VisualOdom(time_delta_sec,
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angle_delta,
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position_delta,
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packet.confidence);
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}
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// consume vision position estimate data and send to EKF. distances in meters
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void AP_VisualOdom_MAV::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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{
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const float scale_factor = _frontend.get_pos_scale();
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Vector3f pos{x * scale_factor, y * scale_factor, z * scale_factor};
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// send attitude and position to EKF
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const float posErr = 0; // parameter required?
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const float angErr = 0; // parameter required?
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AP::ahrs().writeExtNavData(_frontend.get_pos_offset(), pos, attitude, posErr, angErr, time_ms, get_reset_timestamp_ms(reset_counter));
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// calculate euler orientation for logging
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float roll;
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float pitch;
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float yaw;
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attitude.to_euler(roll, pitch, yaw);
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// log sensor data
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AP::logger().Write_VisualPosition(remote_time_us, time_ms, x, y, z, degrees(roll), degrees(pitch), degrees(yaw), reset_counter);
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// record time for health monitoring
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_last_update_ms = AP_HAL::millis();
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}
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#endif
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