mirror of https://github.com/ArduPilot/ardupilot
70 lines
4.1 KiB
C++
70 lines
4.1 KiB
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_IntelT265 : public AP_VisualOdom_Backend
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{
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public:
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using AP_VisualOdom_Backend::AP_VisualOdom_Backend;
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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, float posErr, float angErr, uint8_t reset_counter) override;
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// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
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void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) override;
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// handle request to align camera's attitude with vehicle's AHRS/EKF attitude
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void align_sensor_to_vehicle() override { _align_camera = true; }
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// update position offsets to align to AHRS position
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// should only be called when this library is not being used as the position source
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void align_position_to_ahrs(bool align_xy, bool align_z) override { _align_posxy = align_xy; _align_posz = align_z; }
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// arming check
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bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const override;
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protected:
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// apply rotation and correction to position
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void rotate_and_correct_position(Vector3f &position) const;
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// apply rotation to velocity
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void rotate_velocity(Vector3f &velocity) const;
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// rotate attitude using _yaw_trim
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void rotate_attitude(Quaternion &attitude) const;
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// use sensor provided position and attitude to calculate rotation to align sensor with AHRS/EKF attitude
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bool align_sensor_to_vehicle(const Vector3f &position, const Quaternion &attitude);
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// returns true if sensor data should be consumed, false if it should be ignored
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// set vision_position_estimate to true if reset_counter is from the VISION_POSITION_ESTIMATE source, false otherwise
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// only the VISION_POSITION_ESTIMATE message's reset_counter is used to determine if sensor data should be ignored
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bool should_consume_sensor_data(bool vision_position_estimate, uint8_t reset_counter);
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// align position with ahrs position by updating _pos_correction
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// sensor_pos should be the position directly from the sensor with only scaling applied (i.e. no yaw or position corrections)
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bool align_position_to_ahrs(const Vector3f &sensor_pos, bool align_xy, bool align_z);
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float _yaw_trim; // yaw angle trim (in radians) to align camera's yaw to ahrs/EKF's
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Quaternion _yaw_rotation; // earth-frame yaw rotation to align heading of sensor with vehicle. use when _yaw_trim is non-zero
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Quaternion _att_rotation; // body-frame rotation corresponding to ORIENT parameter. use when get_orientation != NONE
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Matrix3f _posvel_rotation; // rotation to align position and/or velocity from sensor to earth frame. use when _use_posvel_rotation is true
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Vector3f _pos_correction; // position correction that should be added to position reported from sensor
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bool _use_att_rotation; // true if _att_rotation should be applied to sensor's attitude data
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bool _use_posvel_rotation; // true if _posvel_rotation should be applied to sensor's position and/or velocity data
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bool _align_camera = true; // true if camera should be aligned to AHRS/EKF
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bool _align_posxy; // true if sensor xy position should be aligned to AHRS
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bool _align_posz; // true if sensor z position should be aligned to AHRS
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bool _error_orientation; // true if the orientation is not supported
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Quaternion _attitude_last; // last attitude received from camera (used for arming checks)
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uint8_t _pos_reset_counter_last; // last vision-position-estimate reset counter value
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uint32_t _pos_reset_ignore_start_ms; // system time we start ignoring sensor information, 0 if sensor data is not being ignored
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};
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#endif
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