fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 09:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update setExtVisionData interface

Browse Source
This commit is contained in:
kamilritz
2020-01-23 14:50:43 +01:00
committed by Mathieu Bresciani
parent ed916c8006
commit de33885658
5 changed files with 16 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/sensor_simulator/vio.cpp
+5 -4
View File
@@ -15,10 +15,11 @@ Vio::~Vio()
void Vio::send(uint64_t time)
{
_ekf->setExtVisionData(time, &_vio_data);
_vio_data.time_us = time;
_ekf->setExtVisionData(_vio_data);
}
void Vio::setData(const ext_vision_message& vio_data)
void Vio::setData(const extVisionSample& vio_data)
{
_vio_data = vio_data;
}
@@ -53,9 +54,9 @@ void Vio::setOrientation(const Quatf& quat)
_vio_data.quat = quat;
}
ext_vision_message Vio::dataAtRest()
extVisionSample Vio::dataAtRest()
{
ext_vision_message vio_data;
extVisionSample vio_data;
vio_data.pos = Vector3f{0.0f, 0.0f, 0.0f};;
vio_data.vel = Vector3f{0.0f, 0.0f, 0.0f};;
vio_data.quat = Quatf{1.0f, 0.0f, 0.0f, 0.0f};
test/sensor_simulator/vio.h
+3 -3
View File
@@ -50,7 +50,7 @@ public:
Vio(std::shared_ptr<Ekf> ekf);
~Vio();
void setData(const ext_vision_message& vio_data);
void setData(const extVisionSample& vio_data);
void setVelocityVariance(const Vector3f& velVar);
void setPositionVariance(const Vector3f& posVar);
void setAngularVariance(float angVar);
@@ -58,10 +58,10 @@ public:
void setPosition(const Vector3f& pos);
void setOrientation(const Quatf& quat);
ext_vision_message dataAtRest();
extVisionSample dataAtRest();
private:
ext_vision_message _vio_data;
extVisionSample _vio_data;
void send(uint64_t time) override;