mirror of https://github.com/ArduPilot/ardupilot
58 lines
2.2 KiB
C++
58 lines
2.2 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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#pragma once
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#include "AP_VisualOdom.h"
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#if HAL_VISUALODOM_ENABLED
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class AP_VisualOdom_Backend
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{
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public:
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// constructor. This incorporates initialisation as well.
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AP_VisualOdom_Backend(AP_VisualOdom &frontend);
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// return true if sensor is basically healthy (we are receiving data)
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bool healthy() const;
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// consume vision_position_delta mavlink messages
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void handle_vision_position_delta_msg(const mavlink_message_t &msg);
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// consume vision position estimate data and send to EKF. distances in meters
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virtual void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, uint8_t reset_counter) = 0;
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// handle request to align camera's attitude with vehicle's AHRS/EKF attitude
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virtual void align_sensor_to_vehicle() {}
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// arming check - by default no checks performed
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virtual bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const { return true; }
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protected:
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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 get_reset_timestamp_ms(uint8_t reset_counter);
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AP_VisualOdom &_frontend; // reference to frontend
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uint32_t _last_update_ms; // system time of last update from sensor (used by health checks)
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// reset counter handling
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uint8_t _last_reset_counter; // last sensor reset counter received
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uint32_t _reset_timestamp_ms; // time reset counter was received
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};
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#endif
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