mirror of https://github.com/ArduPilot/ardupilot
94 lines
3.2 KiB
C++
94 lines
3.2 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_Backend.h"
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#if HAL_VISUALODOM_ENABLED
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#include <AP_AHRS/AP_AHRS.h>
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#include <GCS_MAVLink/GCS.h>
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/*
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base class constructor.
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This incorporates initialisation as well.
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*/
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AP_VisualOdom_Backend::AP_VisualOdom_Backend(AP_VisualOdom &frontend) :
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_frontend(frontend)
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{
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}
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// return true if sensor is basically healthy (we are receiving data)
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bool AP_VisualOdom_Backend::healthy() const
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{
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// healthy if we have received sensor messages within the past 300ms
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return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
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}
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#if HAL_GCS_ENABLED
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// consume vision_position_delta mavlink messages
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void AP_VisualOdom_Backend::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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#if AP_AHRS_ENABLED || HAL_LOGGING_ENABLED
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const float time_delta_sec = packet.time_delta_usec * 1.0E-6;
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#endif
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#if AP_AHRS_ENABLED
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AP::ahrs().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_delay_ms(),
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_frontend.get_pos_offset());
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#endif
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#if HAL_LOGGING_ENABLED
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// log sensor data
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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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#endif
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}
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#endif // HAL_GCS_ENABLED
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// returns the system time of the last reset if reset_counter has not changed
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// updates the reset timestamp to the current system time if the reset_counter has changed
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uint32_t AP_VisualOdom_Backend::get_reset_timestamp_ms(uint8_t reset_counter)
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{
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// update reset counter and timestamp if reset_counter has changed
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if (reset_counter != _last_reset_counter) {
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_last_reset_counter = reset_counter;
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_reset_timestamp_ms = AP_HAL::millis();
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}
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return _reset_timestamp_ms;
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}
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#endif
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