ardupilot/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h

61 lines
2.4 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_VisualOdom.h"
#if HAL_VISUALODOM_ENABLED
class AP_VisualOdom_Backend
{
public:
// constructor. This incorporates initialisation as well.
AP_VisualOdom_Backend(AP_VisualOdom &frontend);
// return true if sensor is basically healthy (we are receiving data)
bool healthy() const;
// consume vision_position_delta mavlink messages
void handle_vision_position_delta_msg(const mavlink_message_t &msg);
// consume vision position estimate data and send to EKF. distances in meters
virtual void handle_vision_position_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) = 0;
// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
virtual void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) = 0;
// handle request to align camera's attitude with vehicle's AHRS/EKF attitude
virtual void align_sensor_to_vehicle() {}
// arming check - by default no checks performed
virtual bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const { return true; }
protected:
// returns the system time of the last reset if reset_counter has not changed
// updates the reset timestamp to the current system time if the reset_counter has changed
uint32_t get_reset_timestamp_ms(uint8_t reset_counter);
AP_VisualOdom &_frontend; // reference to frontend
uint32_t _last_update_ms; // system time of last update from sensor (used by health checks)
// reset counter handling
uint8_t _last_reset_counter; // last sensor reset counter received
uint32_t _reset_timestamp_ms; // time reset counter was received
};
#endif