libraries/AP_VisualOdom/AP_VisualOdom_Backend.h

   1 /*
   2    This program is free software: you can redistribute it and/or modify
   3    it under the terms of the GNU General Public License as published by
   4    the Free Software Foundation, either version 3 of the License, or
   5    (at your option) any later version.
   6
   7    This program is distributed in the hope that it will be useful,
   8    but WITHOUT ANY WARRANTY; without even the implied warranty of
   9    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  10    GNU General Public License for more details.
  11
  12    You should have received a copy of the GNU General Public License
  13    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  14  */
  15 #pragma once
  16
  17 #include "AP_VisualOdom.h"
  18
  19 #if HAL_VISUALODOM_ENABLED
  20
  21 #include <AP_Logger/AP_Logger_config.h>
  22
  23 class AP_VisualOdom_Backend
  24 {
  25 public:
  26     // constructor. This incorporates initialisation as well.
  27     AP_VisualOdom_Backend(AP_VisualOdom &frontend);
  28
  29     // return true if sensor is basically healthy (we are receiving data)
  30     bool healthy() const;
  31
  32     // return quality as a measure from -1 ~ 100
  33     // -1 means failed, 0 means unknown, 1 is worst, 100 is best
  34     int8_t quality() const { return _quality; }
  35
  36 #if HAL_GCS_ENABLED
  37     // consume vision_position_delta mavlink messages
  38     void handle_vision_position_delta_msg(const mavlink_message_t &msg);
  39 #endif
  40
  41     // consume vision pose estimate data and send to EKF. distances in meters
  42     // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
  43     virtual void handle_pose_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, int8_t quality) = 0;
  44
  45     // consume vision velocity estimate data and send to EKF, velocity in NED meters per second
  46     // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
  47     virtual void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality) = 0;
  48
  49     // request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
  50     virtual void request_align_yaw_to_ahrs() {}
  51
  52     // handle request to align position with AHRS
  53     virtual void align_position_to_ahrs(bool align_xy, bool align_z) {}
  54
  55     // arming check - by default no checks performed
  56     virtual bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const { return true; }
  57
  58 protected:
  59
  60     // returns the system time of the last reset if reset_counter has not changed
  61     // updates the reset timestamp to the current system time if the reset_counter has changed
  62     uint32_t get_reset_timestamp_ms(uint8_t reset_counter);
  63
  64     AP_VisualOdom::VisualOdom_Type get_type(void) const {
  65         return _frontend.get_type();
  66     }
  67
  68 #if HAL_LOGGING_ENABLED
  69     // Logging Functions
  70     void Write_VisualOdom(float time_delta, const Vector3f &angle_delta, const Vector3f &position_delta, float confidence);
  71     void Write_VisualPosition(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw, float pos_err, float ang_err, uint8_t reset_counter, bool ignored, int8_t quality);
  72     void Write_VisualVelocity(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, bool ignored, int8_t quality);
  73 #endif
  74
  75     AP_VisualOdom &_frontend;   // reference to frontend
  76     uint32_t _last_update_ms;   // system time of last update from sensor (used by health checks)
  77
  78     // reset counter handling
  79     uint8_t _last_reset_counter;    // last sensor reset counter received
  80     uint32_t _reset_timestamp_ms;   // time reset counter was received
  81
  82     // quality
  83     int8_t _quality;                // last recorded quality
  84 };
  85
  86 #endif  // HAL_VISUALODOM_ENABLED