Ardupilot2/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h

#pragma once

#include "AP_VisualOdom_Backend.h"

class AP_VisualOdom_MAV : public AP_VisualOdom_Backend
{

public:
    // constructor
    AP_VisualOdom_MAV(AP_VisualOdom &frontend);

    // consume vision_position_delta mavlink messages
    void handle_vision_position_delta_msg(const mavlink_message_t &msg) override;

    // consume vision position estimate data and send to EKF. distances in meters
    void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude) override;
};