mirror of https://github.com/ArduPilot/ardupilot
103 lines
3.4 KiB
C++
103 lines
3.4 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_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS.h>
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class AP_VisualOdom_Backend;
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#define AP_VISUALODOM_TIMEOUT_MS 300
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class AP_VisualOdom
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{
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public:
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friend class AP_VisualOdom_Backend;
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AP_VisualOdom();
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// get singleton instance
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static AP_VisualOdom *get_singleton() {
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return _singleton;
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}
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// external position backend types (used by _TYPE parameter)
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enum AP_VisualOdom_Type {
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AP_VisualOdom_Type_None = 0,
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AP_VisualOdom_Type_MAV = 1
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};
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// The VisualOdomState structure is filled in by the backend driver
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struct VisualOdomState {
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Vector3f angle_delta; // attitude delta (in radians) of most recent update
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Vector3f position_delta; // position delta (in meters) of most recent update
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uint64_t time_delta_usec; // time delta (in usec) between previous and most recent update
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float confidence; // confidence expressed as a value from 0 (no confidence) to 100 (very confident)
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uint32_t last_sensor_update_ms; // system time (in milliseconds) of last update from sensor
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uint32_t last_processed_sensor_update_ms; // timestamp of last sensor update that was processed
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};
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// detect and initialise any sensors
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void init();
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// should be called really, really often. The faster you call
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// this the lower the latency of the data fed to the estimator.
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void update();
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// return true if sensor is enabled
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bool enabled() const;
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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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// 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(void) const { return _pos_offset; }
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// consume data from MAVLink messages
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void handle_msg(mavlink_message_t *msg);
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static const struct AP_Param::GroupInfo var_info[];
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private:
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static AP_VisualOdom *_singleton;
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// state accessors
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const Vector3f &get_angle_delta() const { return _state.angle_delta; }
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const Vector3f &get_position_delta() const { return _state.position_delta; }
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uint64_t get_time_delta_usec() const { return _state.time_delta_usec; }
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float get_confidence() const { return _state.confidence; }
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uint32_t get_last_update_ms() const { return _state.last_sensor_update_ms; }
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// parameters
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AP_Int8 _type;
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AP_Vector3f _pos_offset; // position offset of the camera in the body frame
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AP_Int8 _orientation; // camera orientation on vehicle frame
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// reference to backends
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AP_VisualOdom_Backend *_driver;
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// state of backend
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VisualOdomState _state;
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};
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namespace AP {
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AP_VisualOdom *visualodom();
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};
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