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38 lines
1.2 KiB
38 lines
1.2 KiB
#pragma once |
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#include "AP_OpticalFlow.h" |
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#ifndef AP_OPTICALFLOW_CXOF_ENABLED |
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#define AP_OPTICALFLOW_CXOF_ENABLED AP_OPTICALFLOW_ENABLED |
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#endif |
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#if AP_OPTICALFLOW_CXOF_ENABLED |
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#include <AP_HAL/utility/OwnPtr.h> |
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class AP_OpticalFlow_CXOF : public OpticalFlow_backend |
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{ |
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public: |
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/// constructor |
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AP_OpticalFlow_CXOF(AP_OpticalFlow &_frontend, AP_HAL::UARTDriver *uart); |
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// initialise the sensor |
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void init() override; |
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// read latest values from sensor and fill in x,y and totals. |
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void update(void) override; |
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// detect if the sensor is available |
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static AP_OpticalFlow_CXOF *detect(AP_OpticalFlow &_frontend); |
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private: |
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AP_HAL::UARTDriver *uart; // uart connected to flow sensor |
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uint64_t last_frame_us; // system time of last message from flow sensor |
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uint8_t buf[10]; // buff of characters received from flow sensor |
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uint8_t buf_len; // number of characters in buffer |
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Vector2f gyro_sum; // sum of gyro sensor values since last frame from flow sensor |
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uint16_t gyro_sum_count; // number of gyro sensor values in sum |
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}; |
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#endif // AP_OPTICALFLOW_CXOF_ENABLED
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