mirror of https://github.com/ArduPilot/ardupilot
313 lines
9.7 KiB
C++
313 lines
9.7 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_config.h"
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#if HAL_VISUALODOM_ENABLED
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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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#include "AP_VisualOdom_IntelT265.h"
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#include <AP_AHRS/AP_AHRS.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:MAVLink,2:IntelT265,3:VOXL(ModalAI)
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// @User: Advanced
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// @RebootRequired: True
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AP_GROUPINFO_FLAGS("_TYPE", 0, AP_VisualOdom, _type, 0, AP_PARAM_FLAG_ENABLE),
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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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// @Range: -5 5
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// @Increment: 0.01
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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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// @Range: -5 5
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// @Increment: 0.01
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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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// @Range: -5 5
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// @Increment: 0.01
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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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// @Param: _SCALE
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// @DisplayName: Visual odometry scaling factor
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// @Description: Visual odometry scaling factor applied to position estimates from sensor
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// @User: Advanced
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AP_GROUPINFO("_SCALE", 3, AP_VisualOdom, _pos_scale, 1.0f),
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// @Param: _DELAY_MS
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// @DisplayName: Visual odometry sensor delay
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// @Description: Visual odometry sensor delay relative to inertial measurements
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// @Units: ms
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// @Range: 0 250
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// @User: Advanced
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AP_GROUPINFO("_DELAY_MS", 4, AP_VisualOdom, _delay_ms, 10),
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// @Param: _VEL_M_NSE
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// @DisplayName: Visual odometry velocity measurement noise
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// @Description: Visual odometry velocity measurement noise in m/s
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// @Units: m/s
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// @Range: 0.05 5.0
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// @User: Advanced
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AP_GROUPINFO("_VEL_M_NSE", 5, AP_VisualOdom, _vel_noise, 0.1),
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// @Param: _POS_M_NSE
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// @DisplayName: Visual odometry position measurement noise
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// @Description: Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)
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// @Units: m
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// @Range: 0.1 10.0
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// @User: Advanced
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AP_GROUPINFO("_POS_M_NSE", 6, AP_VisualOdom, _pos_noise, 0.2f),
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// @Param: _YAW_M_NSE
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// @DisplayName: Visual odometry yaw measurement noise
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// @Description: Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)
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// @Units: rad
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// @Range: 0.05 1.0
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// @User: Advanced
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AP_GROUPINFO("_YAW_M_NSE", 7, AP_VisualOdom, _yaw_noise, 0.2f),
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// @Param: _QUAL_MIN
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// @DisplayName: Visual odometry minimum quality
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// @Description: Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown
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// @Units: %
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// @Range: -1 100
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// @User: Advanced
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AP_GROUPINFO("_QUAL_MIN", 8, AP_VisualOdom, _quality_min, 0),
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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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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (_singleton != nullptr) {
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AP_HAL::panic("must be singleton");
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}
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#endif
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_singleton = this;
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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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switch (VisualOdom_Type(_type.get())) {
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case VisualOdom_Type::None:
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// do nothing
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break;
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#if AP_VISUALODOM_MAV_ENABLED
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case VisualOdom_Type::MAV:
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_driver = NEW_NOTHROW AP_VisualOdom_MAV(*this);
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break;
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#endif
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#if AP_VISUALODOM_INTELT265_ENABLED
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case VisualOdom_Type::IntelT265:
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case VisualOdom_Type::VOXL:
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_driver = NEW_NOTHROW AP_VisualOdom_IntelT265(*this);
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break;
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#endif
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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 != VisualOdom_Type::None));
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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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if (_driver == nullptr) {
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return false;
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}
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return _driver->healthy();
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}
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// return quality as a measure from 0 ~ 100
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// -1 means failed, 0 means unknown, 1 is worst, 100 is best
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int8_t AP_VisualOdom::quality() const
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{
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if (_driver == nullptr) {
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return 0;
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}
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return _driver->quality();
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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::handle_vision_position_delta_msg(const 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_vision_position_delta_msg(msg);
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}
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}
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#endif
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// general purpose method to consume position estimate data and send to EKF
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// distances in meters, roll, pitch and yaw are in radians
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void AP_VisualOdom::handle_pose_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float posErr, float angErr, uint8_t reset_counter, int8_t quality)
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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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// convert attitude to quaternion and call backend
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Quaternion attitude;
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attitude.from_euler(roll, pitch, yaw);
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_driver->handle_pose_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter, quality);
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}
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}
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// general purpose method to consume position estimate data and send to EKF
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void AP_VisualOdom::handle_pose_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, int8_t quality)
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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_pose_estimate(remote_time_us, time_ms, x, y, z, attitude, posErr, angErr, reset_counter, quality);
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}
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}
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// general purpose methods to consume velocity estimate data and send to EKF
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// velocity in NED meters per second
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// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
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void AP_VisualOdom::handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality)
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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_vision_speed_estimate(remote_time_us, time_ms, vel, reset_counter, quality);
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}
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}
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// request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
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void AP_VisualOdom::request_align_yaw_to_ahrs()
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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->request_align_yaw_to_ahrs();
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}
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}
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// update position offsets to align to AHRS position. Should only be called when this library is not being used as the position source
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void AP_VisualOdom::align_position_to_ahrs(bool align_xy, bool align_z)
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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->align_position_to_ahrs(align_xy, align_z);
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}
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}
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// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
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bool AP_VisualOdom::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const
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{
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// exit immediately if not enabled
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if (!enabled()) {
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return true;
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}
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// if no backend we must have failed to create because out of memory
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if (_driver == nullptr) {
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hal.util->snprintf(failure_msg, failure_msg_len, "out of memory");
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return false;
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}
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// check healthy
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if (!healthy()) {
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hal.util->snprintf(failure_msg, failure_msg_len, "not healthy");
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return false;
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}
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// call backend specific arming check
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return _driver->pre_arm_check(failure_msg, failure_msg_len);
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}
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// singleton instance
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AP_VisualOdom *AP_VisualOdom::_singleton;
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namespace AP {
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AP_VisualOdom *visualodom()
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{
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return AP_VisualOdom::get_singleton();
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}
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}
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#endif
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