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Rover: visual odometry moved to AP_Vehicle

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This commit is contained in:
Randy Mackay 2020-04-06 13:13:35 +09:00
parent ea14775793
commit 9a32e8208f
7 changed files with 1 additions and 26 deletions
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8
APMrover2/GCS_Rover.cpp
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@ -28,11 +28,6 @@ bool GCS_Rover::supersimple_input_active() const
void GCS_Rover::update_vehicle_sensor_status_flags(void) void GCS_Rover::update_vehicle_sensor_status_flags(void)
{ {
// first what sensors/controllers we have // first what sensors/controllers we have
const AP_VisualOdom *visual_odom = AP::visualodom();
if (visual_odom && visual_odom->enabled()) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
const AP_Proximity *proximity = AP_Proximity::get_singleton(); const AP_Proximity *proximity = AP_Proximity::get_singleton();
if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) { if (proximity && proximity->get_status() > AP_Proximity::Status::NotConnected) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
@ -58,9 +53,6 @@ void GCS_Rover::update_vehicle_sensor_status_flags(void)
control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control control_sensors_health |= MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL; // X/Y position control
} }
if (visual_odom && visual_odom->enabled() && visual_odom->healthy()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
}
const RangeFinder *rangefinder = RangeFinder::get_singleton(); const RangeFinder *rangefinder = RangeFinder::get_singleton();
if (rangefinder && rangefinder->num_sensors() > 0) { if (rangefinder && rangefinder->num_sensors() > 0) {
control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION; control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;

4
APMrover2/Parameters.cpp
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@ -416,9 +416,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/AP_Beacon/AP_Beacon.cpp // @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
AP_SUBGROUPINFO(beacon, "BCN", 6, ParametersG2, AP_Beacon), AP_SUBGROUPINFO(beacon, "BCN", 6, ParametersG2, AP_Beacon),
// @Group: VISO // 7 was used by AP_VisualOdometry
// @Path: ../libraries/AP_VisualOdom/AP_VisualOdom.cpp
AP_SUBGROUPINFO(visual_odom, "VISO", 7, ParametersG2, AP_VisualOdom),
// @Group: MOT_ // @Group: MOT_
// @Path: AP_MotorsUGV.cpp // @Path: AP_MotorsUGV.cpp

3
APMrover2/Parameters.h
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@ -298,9 +298,6 @@ public:
AP_Beacon beacon; AP_Beacon beacon;
// Visual Odometry camera
AP_VisualOdom visual_odom;
// Motor library // Motor library
AP_MotorsUGV motors; AP_MotorsUGV motors;

1
APMrover2/Rover.h
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@ -50,7 +50,6 @@
#include <AP_Stats/AP_Stats.h> // statistics library #include <AP_Stats/AP_Stats.h> // statistics library
#include <AP_Terrain/AP_Terrain.h> #include <AP_Terrain/AP_Terrain.h>
#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build #include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_WheelEncoder/AP_WheelEncoder.h> #include <AP_WheelEncoder/AP_WheelEncoder.h>
#include <AP_WheelEncoder/AP_WheelRateControl.h> #include <AP_WheelEncoder/AP_WheelRateControl.h>
#include <APM_Control/AR_AttitudeControl.h> #include <APM_Control/AR_AttitudeControl.h>

7
APMrover2/config.h
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@ -46,13 +46,6 @@
#error XXX #error XXX
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// VISUAL ODOMETRY
#ifndef VISUAL_ODOMETRY_ENABLED
# define VISUAL_ODOMETRY_ENABLED ENABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// STARTUP BEHAVIOUR // STARTUP BEHAVIOUR

1
APMrover2/sensors.cpp
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@ -1,7 +1,6 @@
#include "Rover.h" #include "Rover.h"
#include <AP_RangeFinder/AP_RangeFinder_Backend.h> #include <AP_RangeFinder/AP_RangeFinder_Backend.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
// check for new compass data - 10Hz // check for new compass data - 10Hz
void Rover::update_compass(void) void Rover::update_compass(void)

3
APMrover2/system.cpp
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@ -73,9 +73,6 @@ void Rover::init_ardupilot()
// init beacons used for non-gps position estimation // init beacons used for non-gps position estimation
g2.beacon.init(); g2.beacon.init();
// init library used for visual position estimation
g2.visual_odom.init();
// and baro for EKF // and baro for EKF
barometer.set_log_baro_bit(MASK_LOG_IMU); barometer.set_log_baro_bit(MASK_LOG_IMU);
barometer.calibrate(); barometer.calibrate();