mirror of https://github.com/ArduPilot/ardupilot
40 lines
1.0 KiB
C++
40 lines
1.0 KiB
C++
#include "AP_DAL_VisualOdom.h"
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#include <AP_VisualOdom/AP_VisualOdom.h>
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#if HAL_VISUALODOM_ENABLED
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#include <AP_Logger/AP_Logger.h>
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#include "AP_DAL.h"
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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/*
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update position offsets to align to AHRS position
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should only be called when this library is not being used as the position source
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This function does not change EKF state, so does not need to be logged
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*/
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void AP_DAL_VisualOdom::align_position_to_ahrs(bool align_xy, bool align_z)
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{
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#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone)
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auto *vo = AP::visualodom();
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vo->align_position_to_ahrs(align_xy, align_z);
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#endif
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}
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void AP_DAL_VisualOdom::start_frame()
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{
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const auto *vo = AP::visualodom();
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const log_RVOH old = RVOH;
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if (vo != nullptr) {
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RVOH.pos_offset = vo->get_pos_offset();
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RVOH.delay_ms = vo->get_delay_ms();
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RVOH.healthy = vo->healthy();
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RVOH.enabled = vo->enabled();
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}
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WRITE_REPLAY_BLOCK_IFCHANGED(RVOH, RVOH, old);
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}
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#endif // HAL_VISUALODOM_ENABLED
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