mirror of https://github.com/ArduPilot/ardupilot
106 lines
3.1 KiB
C++
106 lines
3.1 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.h"
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#include "AP_VisualOdom_Backend.h"
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#include "AP_VisualOdom_MAV.h"
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extern const AP_HAL::HAL &hal;
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// table of user settable parameters
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const AP_Param::GroupInfo AP_VisualOdom::var_info[] = {
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// @Param: _TYPE
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// @DisplayName: Visual odometry camera connection type
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// @Description: Visual odometry camera connection type
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// @Values: 0:None,1:MAV
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// @User: Advanced
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AP_GROUPINFO("_TYPE", 0, AP_VisualOdom, _type, 0),
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// @Param: _POS_X
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// @DisplayName: Visual odometry camera X position offset
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// @Description: X position of the camera in body frame. Positive X is forward of the origin.
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// @Units: m
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// @User: Advanced
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// @Param: _POS_Y
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// @DisplayName: Visual odometry camera Y position offset
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// @Description: Y position of the camera in body frame. Positive Y is to the right of the origin.
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// @Units: m
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// @User: Advanced
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// @Param: _POS_Z
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// @DisplayName: Visual odometry camera Z position offset
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// @Description: Z position of the camera in body frame. Positive Z is down from the origin.
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// @Units: m
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// @User: Advanced
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AP_GROUPINFO("_POS", 1, AP_VisualOdom, _pos_offset, 0.0f),
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// @Param: _ORIENT
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// @DisplayName: Visual odometery camera orientation
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// @Description: Visual odometery camera orientation
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// @Values: 0:Forward, 2:Right, 4:Back, 6:Left, 24:Up, 25:Down
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// @User: Advanced
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AP_GROUPINFO("_ORIENT", 2, AP_VisualOdom, _orientation, ROTATION_NONE),
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AP_GROUPEND
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};
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AP_VisualOdom::AP_VisualOdom()
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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// detect and initialise any sensors
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void AP_VisualOdom::init()
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{
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// create backend
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if (_type == AP_VisualOdom_Type_MAV) {
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_driver = new AP_VisualOdom_MAV(*this);
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}
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}
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// return true if sensor is enabled
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bool AP_VisualOdom::enabled() const
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{
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return ((_type != AP_VisualOdom_Type_None) && (_driver != nullptr));
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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::healthy() const
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{
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if (!enabled()) {
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return false;
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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() - _state.last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
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}
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// consume VISION_POSITION_DELTA MAVLink message
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void AP_VisualOdom::handle_msg(mavlink_message_t *msg)
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{
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// exit immediately if not enabled
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if (!enabled()) {
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return;
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}
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// call backend
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if (_driver != nullptr) {
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_driver->handle_msg(msg);
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}
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}
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