ardupilot/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp

54 lines
1.7 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/>.
*/
#include "AP_VisualOdom_Backend.h"
#if HAL_VISUALODOM_ENABLED
#include <AP_Logger/AP_Logger.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL &hal;
/*
base class constructor.
This incorporates initialisation as well.
*/
AP_VisualOdom_Backend::AP_VisualOdom_Backend(AP_VisualOdom &frontend) :
_frontend(frontend)
{
}
// return true if sensor is basically healthy (we are receiving data)
bool AP_VisualOdom_Backend::healthy() const
{
// healthy if we have received sensor messages within the past 300ms
return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
}
// returns the system time of the last reset if reset_counter has not changed
// updates the reset timestamp to the current system time if the reset_counter has changed
uint32_t AP_VisualOdom_Backend::get_reset_timestamp_ms(uint8_t reset_counter)
{
// update reset counter and timestamp if reset_counter has changed
if (reset_counter != _last_reset_counter) {
_last_reset_counter = reset_counter;
_reset_timestamp_ms = AP_HAL::millis();
}
return _reset_timestamp_ms;
}
#endif