libraries/AP_VisualOdom/AP_VisualOdom_MAV.h

   1 #pragma once
   2
   3 #include "AP_VisualOdom_config.h"
   4
   5 #if AP_VISUALODOM_MAV_ENABLED
   6
   7 #include "AP_VisualOdom_Backend.h"
   8
   9 class AP_VisualOdom_MAV : public AP_VisualOdom_Backend
  10 {
  11
  12 public:
  13     // constructor
  14     using AP_VisualOdom_Backend::AP_VisualOdom_Backend;
  15
  16     // consume vision pose estimate data and send to EKF. distances in meters
  17     // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
  18     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) override;
  19
  20     // consume vision velocity estimate data and send to EKF, velocity in NED meters per second
  21     // quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
  22     void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter, int8_t quality) override;
  23 };
  24
  25 #endif  // AP_VISUALODOM_MAV_ENABLED