mirror of https://github.com/ArduPilot/ardupilot
22 lines
614 B
C++
22 lines
614 B
C++
#pragma once
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#include "AP_VisualOdom_Backend.h"
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#if HAL_VISUALODOM_ENABLED
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class AP_VisualOdom_MAV : public AP_VisualOdom_Backend
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{
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public:
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// constructor
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AP_VisualOdom_MAV(AP_VisualOdom &frontend);
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// consume vision_position_delta mavlink messages
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void handle_vision_position_delta_msg(const mavlink_message_t &msg) override;
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// consume vision position estimate data and send to EKF. distances in meters
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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) override;
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};
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#endif
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