From f777a25de8b3e1ace37df3b0dc4a0c29426ccc76 Mon Sep 17 00:00:00 2001 From: mirkix Date: Sat, 6 Feb 2016 21:13:41 +0100 Subject: [PATCH] AP_HAL: Enable optical flow onboard for BBBMINI --- libraries/AP_HAL/AP_HAL_Boards.h | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index a91c3ad35c..06397c9bf0 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -309,6 +309,21 @@ #define HAL_INS_DEFAULT HAL_INS_MPU9250 #define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI #define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 +#define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0" +#define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320 +#define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240 +#define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64 +#define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64 +#define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240 +#define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240 +#define HAL_OPTFLOW_ONBOARD_NBUFS 8; +#define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4 +#define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30 +#define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000 +/* ELP-USBFHD01M-L21 + * focal length 2.1 mm, pixel size 3 um + * 240x240 crop rescaled to 64x64 */ +#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (3.0 / (2.1 * 2.0 * 240 / 64)) #define HAL_GPIO_A_LED_PIN 61 #define HAL_GPIO_B_LED_PIN 48 #define HAL_GPIO_C_LED_PIN 117