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             : #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           0 :     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, float vel_err, uint8_t reset_counter, int8_t quality) = 0;
      48             : 
      49             :     // request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
      50           0 :     virtual void request_align_yaw_to_ahrs() {}
      51             : 
      52             :     // handle request to align position with AHRS
      53      278478 :     virtual void align_position_to_ahrs(bool align_xy, bool align_z) {}
      54             : 
      55             :     // arming check - by default no checks performed
      56          36 :     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       22998 :     AP_VisualOdom::VisualOdom_Type get_type(void) const {
      65       22998 :         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, float vel_err, uint8_t reset_counter, bool ignored, int8_t quality);
      73             : #endif
      74             : 
      75             :     // align position with ahrs position by updating _pos_correction
      76             :     // sensor_pos should be the position directly from the sensor with only scaling applied (i.e. no yaw or position corrections)
      77             :     bool align_position_to_ahrs(const Vector3f &sensor_pos, bool align_xy, bool align_z);
      78             : 
      79             :     // align position with a new position by updating _pos_correction
      80             :     // sensor_pos should be the position directly from the sensor with only scaling applied (i.e. no yaw or position corrections)
      81             :     // new_pos should be a NED position offset from the EKF origin
      82             :     void align_position(const Vector3f &sensor_pos, const Vector3f &new_pos, bool align_xy, bool align_z);
      83             : 
      84             :     // apply rotation and correction to position
      85             :     void rotate_and_correct_position(Vector3f &position) const;
      86             : 
      87             :     AP_VisualOdom &_frontend;   // reference to frontend
      88             :     uint32_t _last_update_ms;   // system time of last update from sensor (used by health checks)
      89             : 
      90             :     // reset counter handling
      91             :     uint8_t _last_reset_counter;    // last sensor reset counter received
      92             :     uint32_t _reset_timestamp_ms;   // time reset counter was received
      93             : 
      94             :     bool _align_posxy;              // true if sensor xy position should be aligned to AHRS
      95             :     bool _align_posz;               // true if sensor z position should be aligned to AHRS
      96             :     bool _use_posvel_rotation;      // true if _posvel_rotation should be applied to sensor's position and/or velocity data
      97             :     Matrix3f _posvel_rotation;                  // rotation to align position and/or velocity from sensor to earth frame.  use when _use_posvel_rotation is true
      98             :     Vector3f _pos_correction;                   // position correction that should be added to position reported from sensor
      99             : 
     100             :     // quality
     101             :     int8_t _quality;                // last recorded quality
     102             : };
     103             : 
     104             : #endif  // HAL_VISUALODOM_ENABLED