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AP_VisualOdom: explain newly added vel_err parameter

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chobits tai
2026-03-20 09:34:53 +11:00
committed by Peter Barker
parent 745a0d05a7
commit 0ea404971f
2 changed files with 2 additions and 0 deletions
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libraries/AP_VisualOdom/AP_VisualOdom.h
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@@ -104,6 +104,7 @@ public:
// general purpose methods to consume velocity estimate data and send to EKF
// velocity in NED meters per second
// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
// vel_err is the velocity error (m/s), 0 means unknown
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);
// request sensor's yaw be aligned with vehicle's AHRS/EKF attitude
libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
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@@ -19,6 +19,7 @@ public:
// consume vision velocity estimate data and send to EKF, velocity in NED meters per second
// quality of -1 means failed, 0 means unknown, 1 is worst, 100 is best
// vel_err is the velocity error (m/s); VEL_M_NSE is used if 0 is provided.
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) override;
};