Line data    Source code

       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             : 
      16             : #include "AP_VisualOdom_Backend.h"
      17             : 
      18             : #if HAL_VISUALODOM_ENABLED
      19             : 
      20             : #include <AP_AHRS/AP_AHRS.h>
      21             : #include <GCS_MAVLink/GCS.h>
      22             : 
      23             : /*
      24             :   base class constructor. 
      25             :   This incorporates initialisation as well.
      26             : */
      27           8 : AP_VisualOdom_Backend::AP_VisualOdom_Backend(AP_VisualOdom &frontend) :
      28           8 :     _frontend(frontend)
      29             : {
      30           8 : }
      31             : 
      32             : // return true if sensor is basically healthy (we are receiving data)
      33      286332 : bool AP_VisualOdom_Backend::healthy() const
      34             : {
      35             :     // healthy if we have received sensor messages within the past 300ms
      36      286332 :     return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
      37             : }
      38             : 
      39             : #if HAL_GCS_ENABLED
      40             : // consume vision_position_delta mavlink messages
      41        3633 : void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_message_t &msg)
      42             : {
      43             :     // decode message
      44             :     mavlink_vision_position_delta_t packet;
      45        3633 :     mavlink_msg_vision_position_delta_decode(&msg, &packet);
      46             : 
      47             :     // apply rotation to angle and position delta
      48        3633 :     const enum Rotation rot = _frontend.get_orientation();
      49        3633 :     Vector3f angle_delta = Vector3f(packet.angle_delta[0], packet.angle_delta[1], packet.angle_delta[2]);
      50        3633 :     angle_delta.rotate(rot);
      51        3633 :     Vector3f position_delta = Vector3f(packet.position_delta[0], packet.position_delta[1], packet.position_delta[2]);
      52        3633 :     position_delta.rotate(rot);
      53             : 
      54        3633 :     const uint32_t now_ms = AP_HAL::millis();
      55        3633 :     _last_update_ms = now_ms;
      56             : 
      57             :     // send to EKF
      58             : #if AP_AHRS_ENABLED || HAL_LOGGING_ENABLED
      59        3633 :     const float time_delta_sec = packet.time_delta_usec * 1.0E-6;
      60             : #endif
      61             : #if AP_AHRS_ENABLED
      62        7266 :     AP::ahrs().writeBodyFrameOdom(packet.confidence,
      63             :                                   position_delta,
      64             :                                   angle_delta,
      65             :                                   time_delta_sec,
      66             :                                   now_ms,
      67        3633 :                                   _frontend.get_delay_ms(),
      68        3633 :                                   _frontend.get_pos_offset());
      69             : #endif
      70             : 
      71             : #if HAL_LOGGING_ENABLED
      72             :     // log sensor data
      73        3633 :     Write_VisualOdom(time_delta_sec,
      74             :                                   angle_delta,
      75             :                                   position_delta,
      76             :                                   packet.confidence);
      77             : #endif
      78        3633 : }
      79             : #endif  // HAL_GCS_ENABLED
      80             : 
      81             : // returns the system time of the last reset if reset_counter has not changed
      82             : // updates the reset timestamp to the current system time if the reset_counter has changed
      83       10069 : uint32_t AP_VisualOdom_Backend::get_reset_timestamp_ms(uint8_t reset_counter)
      84             : {
      85             :     // update reset counter and timestamp if reset_counter has changed
      86       10069 :     if (reset_counter != _last_reset_counter) {
      87           0 :         _last_reset_counter = reset_counter;
      88           0 :         _reset_timestamp_ms = AP_HAL::millis();
      89             :     }
      90       10069 :     return _reset_timestamp_ms;
      91             : }
      92             : 
      93             : // align position with ahrs position by updating _pos_correction
      94             : // sensor_pos should be the position directly from the sensor with only scaling applied (i.e. no yaw or position corrections)
      95           0 : bool AP_VisualOdom_Backend::align_position_to_ahrs(const Vector3f &sensor_pos, bool align_xy, bool align_z)
      96             : {
      97             :     // fail immediately if ahrs cannot provide position
      98           0 :     Vector3f ahrs_pos_ned;
      99           0 :     if (!AP::ahrs().get_relative_position_NED_origin_float(ahrs_pos_ned)) {
     100           0 :         return false;
     101             :     }
     102             : 
     103           0 :     align_position(sensor_pos, ahrs_pos_ned, align_xy, align_z);
     104           0 :     return true;
     105             : }
     106             : 
     107             : // apply rotation and correction to position
     108       10075 : void AP_VisualOdom_Backend::rotate_and_correct_position(Vector3f &position) const
     109             : {
     110       10075 :     if (_use_posvel_rotation) {
     111        5524 :         position = _posvel_rotation * position;
     112             :     }
     113       10075 :     position += _pos_correction;
     114       10075 : }
     115             : 
     116             : // align position with a new position by updating _pos_correction
     117             : // sensor_pos should be the position directly from the sensor with only scaling applied (i.e. no yaw or position corrections)
     118             : // new_pos should be a NED position offset from the EKF origin
     119           0 : void AP_VisualOdom_Backend::align_position(const Vector3f &sensor_pos, const Vector3f &new_pos, bool align_xy, bool align_z)
     120             : {
     121             :     // calculate position with current rotation and correction
     122           0 :     Vector3f pos_orig = sensor_pos;
     123           0 :     rotate_and_correct_position(pos_orig);
     124             : 
     125             :     // update position correction
     126           0 :     if (align_xy) {
     127           0 :         _pos_correction.x += (new_pos.x - pos_orig.x);
     128           0 :         _pos_correction.y += (new_pos.y - pos_orig.y);
     129             :     }
     130           0 :     if (align_z) {
     131           0 :         _pos_correction.z += (new_pos.z - pos_orig.z);
     132             :     }
     133           0 : }
     134             : #endif