ardupilot/libraries/AP_VisualOdom/AP_VisualOdom.h

106 lines
3.5 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#ifndef HAL_VISUALODOM_ENABLED
#define HAL_VISUALODOM_ENABLED !HAL_MINIMIZE_FEATURES
#endif
#if HAL_VISUALODOM_ENABLED
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <GCS_MAVLink/GCS.h>
class AP_VisualOdom_Backend;
#define AP_VISUALODOM_TIMEOUT_MS 300
class AP_VisualOdom
{
public:
AP_VisualOdom();
// get singleton instance
static AP_VisualOdom *get_singleton() {
return _singleton;
}
// external position backend types (used by _TYPE parameter)
enum AP_VisualOdom_Type {
AP_VisualOdom_Type_None = 0,
AP_VisualOdom_Type_MAV = 1,
AP_VisualOdom_Type_IntelT265 = 2
};
// detect and initialise any sensors
void init();
// return true if sensor is enabled
bool enabled() const;
// return true if sensor is basically healthy (we are receiving data)
bool healthy() const;
// get user defined orientation
enum Rotation get_orientation() const { return (enum Rotation)_orientation.get(); }
// get user defined scaling applied to position estimates
float get_pos_scale() const { return _pos_scale; }
// return a 3D vector defining the position offset of the camera in meters relative to the body frame origin
const Vector3f &get_pos_offset(void) const { return _pos_offset; }
// consume vision_position_delta mavlink messages
void handle_vision_position_delta_msg(const mavlink_message_t &msg);
// general purpose methods to consume position estimate data and send to EKF
// distances in meters, roll, pitch and yaw are in radians
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, uint8_t reset_counter);
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);
// calibrate camera attitude to align with vehicle's AHRS/EKF attitude
void align_sensor_to_vehicle();
// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const;
static const struct AP_Param::GroupInfo var_info[];
private:
static AP_VisualOdom *_singleton;
// parameters
AP_Int8 _type; // sensor type
AP_Vector3f _pos_offset; // position offset of the camera in the body frame
AP_Int8 _orientation; // camera orientation on vehicle frame
AP_Float _pos_scale; // position scale factor applied to sensor values
// reference to backends
AP_VisualOdom_Backend *_driver;
};
namespace AP {
AP_VisualOdom *visualodom();
};
#endif // HAL_VISUALODOM_ENABLED