mirror of https://github.com/ArduPilot/ardupilot
48 lines
1001 B
C++
48 lines
1001 B
C++
#pragma once
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#include <AP_Logger/LogStructure.h>
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#include <AP_VisualOdom/AP_VisualOdom.h>
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#if HAL_VISUALODOM_ENABLED
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class AP_DAL_VisualOdom {
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public:
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// return VisualOdom health
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bool healthy() const {
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return RVOH.healthy;
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}
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bool enabled() const {
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return RVOH.enabled;
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}
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bool get_delay_ms() const {
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return RVOH.delay_ms;
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}
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// return a 3D vector defining the position offset of the camera in meters relative to the body frame origin
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const Vector3f &get_pos_offset() const {
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return RVOH.pos_offset;
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}
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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);
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void start_frame();
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void handle_message(const log_RVOH &msg) {
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RVOH = msg;
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}
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private:
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struct log_RVOH RVOH;
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};
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#endif // HAL_VISUALODOM_ENABLED
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