Line data    Source code

       1             : #include "AP_DAL_VisualOdom.h"
       2             : 
       3             : #include <AP_VisualOdom/AP_VisualOdom.h>
       4             : 
       5             : #if HAL_VISUALODOM_ENABLED
       6             : 
       7             : #include <AP_Logger/AP_Logger.h>
       8             : #include "AP_DAL.h"
       9             : #include <AP_Vehicle/AP_Vehicle_Type.h>
      10             : 
      11             : /*
      12             :    update position offsets to align to AHRS position
      13             :    should only be called when this library is not being used as the position source
      14             :    This function does not change EKF state, so does not need to be logged
      15             : */
      16      278478 : void AP_DAL_VisualOdom::align_position_to_ahrs(bool align_xy, bool align_z)
      17             : {
      18             : #if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone)
      19      278478 :     auto *vo = AP::visualodom();
      20      278478 :     vo->align_position_to_ahrs(align_xy, align_z);
      21             : #endif
      22      278478 : }
      23             : 
      24      284793 : void AP_DAL_VisualOdom::start_frame()
      25             : {
      26      284793 :     const auto *vo = AP::visualodom();
      27             : 
      28      284793 :     const log_RVOH old = RVOH;
      29      284793 :     if (vo != nullptr) {
      30      284793 :         RVOH.pos_offset = vo->get_pos_offset();
      31      284793 :         RVOH.delay_ms = vo->get_delay_ms();
      32      284793 :         RVOH.healthy = vo->healthy();
      33      284793 :         RVOH.enabled = vo->enabled();
      34             :     }
      35             : 
      36      284793 :     WRITE_REPLAY_BLOCK_IFCHANGED(RVOH, RVOH, old);
      37      284793 : }
      38             : 
      39             : #endif // HAL_VISUALODOM_ENABLED