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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DAL/AP_DAL_VisualOdom.cpp
Views: 1798
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#include "AP_DAL_VisualOdom.h"

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#include <AP_VisualOdom/AP_VisualOdom.h>

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#if HAL_VISUALODOM_ENABLED

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#include <AP_Logger/AP_Logger.h>

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#include "AP_DAL.h"

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#include <AP_Vehicle/AP_Vehicle_Type.h>

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/*

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   update position offsets to align to AHRS position

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   should only be called when this library is not being used as the position source

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   This function does not change EKF state, so does not need to be logged

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*/

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void AP_DAL_VisualOdom::align_position_to_ahrs(bool align_xy, bool align_z)

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{

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#if !APM_BUILD_TYPE(APM_BUILD_AP_DAL_Standalone)

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    auto *vo = AP::visualodom();

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    vo->align_position_to_ahrs(align_xy, align_z);

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#endif

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}

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void AP_DAL_VisualOdom::start_frame()

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{

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    const auto *vo = AP::visualodom();

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    const log_RVOH old = RVOH;

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    if (vo != nullptr) {

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        RVOH.pos_offset = vo->get_pos_offset();

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        RVOH.delay_ms = vo->get_delay_ms();

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        RVOH.healthy = vo->healthy();

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        RVOH.enabled = vo->enabled();

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    }

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    WRITE_REPLAY_BLOCK_IFCHANGED(RVOH, RVOH, old);

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}

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#endif // HAL_VISUALODOM_ENABLED

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